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I've only ripped one, but did it via handbrake which you can get for linux and windows.
https://handbrake.fr/downloads.phpand then ask it to reformat the ts files it spits out into whatever format you want, depending on how big the final file size you want should be, and/or the final quality of the file.
edit: as @aggi says
your best bet to play it on an ipad would be h.264, but make sure you double check what the original's framerate was so 24/25/29/30fps and make sure the reformatted one reflects that.
I've been asked to help convert some DVDs to a format that can be played on an ipad for a relative.
Any pointers on what format I need to use?
My laptops are Ubuntu and Windows, rather than Mac, so appreciate this may not definitely be the right thread.
Cheers