Yep -- a CD-ROM at normal 1x speed transfers data at 150kbps. Just factor in the speed of the drive, and you'll have a theoretical maximum ripping speed (for example, a CD-ROM that rips at 52x should have a maximum theoretical ripping speed of 7800kbps, but you'll probably never get that).
A DVD-ROM at normal 1x speed transfers data at 1250kbps, so an 8x DVD drive should have a theoretical maximum ripping speed of 10000kbps.
Just a difference in data transfer rates -- CD-ROMs at 1x transfer 150kbps, while DVD-ROMs at 1x transfer 1250kbps.
A DVD at 4x transfers data as fast as a CD-ROM does at 33.3x (about 5000kbps).