Extract and convert Audio DVD content for synching to iPod

Red Bear

Registered
Is there any way to import/rip songs from an Audio DVD to my Mac, so that I can sync them to my iPod?
I know that I will definitely lose audio quality, that's not the point. I would just like to have the music with me ...
(Note: I mean to extract Audio DVDs, not the audio from a Video DVD)
Thanks for your help in advance.
 
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