Ripping a dvd is difficult enough. Ripping and transcoding on a Mac to all of those formats is not possible. I wouldn't try this for free.

Visit videohelp.com, register and ask questions. There are free tools to rip and transcode for Mac, but it isn't as easy and just a mouse click.

Visit ripdifferent.com forums, register and there are more helps. MTR latest version isn't free, but it is very good.

Be careful if you live in US. There is no 'fair use' to make backup of commercial dvds.