well, its kind of brute force, but theres software called mencoder that comes with mplayer (
http://mplayerhq.hu ), and it can rip dvd titles to an avi file on your hd. from there, you can put it on a dvd (i suppose). i tested it once, and it seems to work, but take a look at the documentation, theres alot of options and parameters that need to be used.