You want DVDShrink
. It's a Windows program, but it works perfectly in WINE. It's also the fastest program for the function, shrinking a DVD in about 30 minutes (or less). All menus, subtitles, languages, etc. are preserved, and the quality is excellent.
Since you will need WINE, in FC5:
yum -y install wine
Then run winecfg. It's available from the menu Applications->System Tools->Wine Configuration. On the Applications tab, click on Default Settings, and set the Windows Version to Windows NT 4.0.
Now just run the DVDShrink installer. You can run the program with:
wine "C:\\Program Files\\DVD Shrink\\DVD Shrink 3.2.exe"
You will probably want to create a desktop launcher for convenience.