FFMpeg works nicely with standard video files, less nicely with DVD structures. While you can certainly extract video directly from the DVD VOB files (ref: http://en.wikibooks.org/wiki/Inside_DVD-Video/Directory_Structure) it's less than desirable since the locating the specific VOB file that contains the segment of video your interested in can be a bit of a setback.
Enter Mplayer;
Mplayer can readily play DVD contents in a user friendly way. It can also dump the file to a more usable file if you can persuade it to do so.
You can extract the full main title into a single VOB file can be done by playing the DVD somewhat normally, but adding a few arguments;
$ mplayer dvd:// -dumpstream -dumpfile /tmp/video.vob
user@River:~$
The above will extract the main title into a single VOB file. Examining with FFMpeg and you'll find that the output file has a video stream and a single audio stream;
$ ffprobe -i /tmp/video.vob
ffprobe version 1.1.2 Copyright (c) 2007-2013 the FFmpeg developers
built on Feb 10 2013 17:42:38 with gcc 4.4.5 (Debian 4.4.5-8)
configuration: --enable-filter=split
libavutil 52. 13.100 / 52. 13.100
libavcodec 54. 86.100 / 54. 86.100
libavformat 54. 59.106 / 54. 59.106
libavdevice 54. 3.102 / 54. 3.102
libavfilter 3. 32.100 / 3. 32.100
libswscale 2. 1.103 / 2. 1.103
libswresample 0. 17.102 / 0. 17.102
[mpeg @ 0x2cd4c60] max_analyze_duration 5000000 reached at 5004678
Input #0, mpeg, from '/tmp/video.vob':
Duration: 01:37:58.02, start: 0.280633, bitrate: 5012 kb/s
Stream #0:0[0x1e0]: Video: mpeg2video (Main), yuv420p, 720x480 [SAR 32:27 DAR 16:9], 26.50 fps, 59.94 tbr, 90k tbn, 59.94 tbc
Stream #0:1[0x80]: Audio: ac3, 48000 Hz, 5.1(side), fltp, 448 kb/s
You may choose an alternative container rather than a VOB by specifying an alternative extension, such as an AVI container by specifying output file video.avi.
Now, we have something we can readily work with.
Let's snag a 30 sec clip starting at 90 seconds in:
$ ffmpeg -i /tmp/video.vob -qscale 0 -ss 90 -t 30 /tmp/clip.mpg
If you're only interested in the video, you can extract only the video by specifying;
$ mplayer dvd:// -dumpvideo -dumpfile /tmp/video01.avi
Or, if you're only interested in listening to the Big Bang Theory like an audio tape, extract only the audio;
$ mplayer dvd:// -dumpaudio -dumpfile /tmp/video01.aac
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