Premiere Elements will do a good job of it. Just open a project using the settings for a Hard Disk Camcorder and add your DVD footage to its timeline. Then use Share/Computer/AVI (or, in older versions of the program, File/Export/Movie) to output your DV-AVI.
Other than that, MPEG Streamclip is probably the best conversion program -- although it does require you to purchase a component from Apple for $19.
As I say in our book: MPEG Streamclip (free at
http://www.squared5.com ) is a great tool for easily converting MPEGs and VOB files (DVD video files). To use it, open the file with MPEG Streamclip and then open the AVI/DivX Exporter window from File/Export to AVI.
For Compression select the Apple DV/DVPRO_NTSC (or DV PAL, if appropriate) codec.
For Field Order select Lower Field First.
Change the default sound settings from MPEG Layer 3 to Uncompressed.
If you have widescreen footage click on the Options at the top right. Leave the Scan Mode as is but change the Aspect Ratio from 4:3 to 16:9.
If you would like to save these settings, click on the Presets button at the bottom left then click on the New button to name and save your settings. The next time you run MPEG Streamclip, you can go directly to the Presets button and Load your saved settings.
Click on “Make AVI” and choose a folder and filename for your DV-AVI file.