Ripping DVD audio stream

This is just a record of steps that I have used in Fedora 6 to rip DVD audio.

First, I use dvd:rip to rip the videos in dvd to my hard disk in .vob format.
Then by using mencoder, I encode the audio stream into mp3 format using mp3lame encoder. The command is: mencoder *.vob -ovc frameno -o frameno.avi -oac mp3lame -lameopts abr:br=128 -aid 160
the options used are:
-ovc frameno :- no output video frame
-o frameno.avi :- store video in file named frameno.avi
-oac mp3lame :- output audio coder is mp3lame
abr:br=128 :- audio bit rate is 128 bit
-aid 160 :- audio stream 160, the audio stream of the .vob file rip from my dvd.

Then I use mplayer to dump the mp3 audio stream to a mp3 file. The command I use is
mplayer -dumpaudio -dumpfile audio1.mp3 frameno.avi

Walla! Now, I have an audio file rip from my dvd!