I haven't personally tested this yet, but
Derrick Story on the O'Reilly MacDevCenter links to a
tutorial page for using Handbrake (Mac or Linux) to rip DVDs to iPod with video format that seems very straightforward.
I happen to have Handbrake on my iMac G5 because a buddy recommended it, so I will test this tonight to get an idea what the effort and time is like.
