Mac the Ripper, a little tougher to find than it used to be but anyone who can navigate the tubes and the googles can find it with no problem. Use MtR if you simply want to rip the DVD into uncompressed video and audio folders. There are two versions, 2.6.6 is the stable release, but it isn't Universal Binary...around the torrents you can find the UB version that's in Beta. Frankly, you don't need UB since the only thing that is PPC reliant is the GUI front end, all the encoding is done using UNIX commands.
If you're looking to encode then you have a few options.
Handbrake is now called Media Fork...it's a much better program now and gives you a lot of options, but you need to learn a little bit about audio bitrates and video resolution if you want to export directly into iPod or PSP formats.
Use iSquint to export any already encoded video directly to iPod, or sacrifice $23 for VisualHub which can turn ANY kind of video into ANY other kind of video...its really hard to find a pirated copy that's updated and it's well worth the $23 bucks.