With more than a little help from How to Rip DVD audio to mp3 or ogg — Ubuntu Geek, here’s how I’d rip audio from a DVD:
for f in $(seq 1 12)
do
transcode -i /dev/sr1 -x null,dvd -T 1,$f,1 -N 0x1 -y null,wav -m $(printf "%02d" $f).wav
done
Your track count and device name will vary. You’ll note that I caved, and used the annoying $(…) syntax instead of good old-fashioned backticks (which some youngsters will claim are deprecated, but I claim as job security). WordPress munges those badly, so we’re stuck with the ugly.
You could use livemp3 to convert to mp3s (if I remembered to upload the version that handles wav files) under controlled circumstances.