I searched google for dvd ripper and found quite a lot. I didn't check if they were freeware or shareware however.
The only one I looked into is dvd::rip from http://exit1.org/dvdrip/
That's free, so certainly belongs to the cheapest. It might need Linux to run, but Linux is free also. And as you don't specify it needs to be Mac or Windows software, this is my choice for you.
Maybe better look yourself?
Kees
What is the cheapest sofware that lets you take dvds that are not copy protected and put them onto your hard drive in watchable form? Thanks.

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