OK, let's give this a go.
1. Open VLC and go to File > Wizard.
2. Select "Transcode/Save to file" and click "Next".
3. Select "Select a stream" and click "Choose".
4. Here's where I'm a little fuzzy, since I can't play DVDs. I *think* either of these might work:
4a. Go to File > Browse > Navigate to your DVD drive and pick the appropriate VOB file. (You'll probably want to play the different VOB files in VLC first to make sure you get the right one.)
4b. Go to Disc > DVD > Pick the right Device, Title, and Chapter. (Again, you'll want to navigate the DVD with VLC first to make sure you're at the right spot.)
5. If you want to extract the full audio, hit "OK". If you want to extract part of the audio, click "Enable" by "Partial Extract". The starting and stopping points are specified in total number of seconds. (For instance, starting at 1:00 would mean a 60 in the start box, and ending at 5:00 would mean a 300 in the end box.) Then click "OK" and "Next".
6. Check "Transcode Audio".
7. Choose from the various options depending on what file format you want. I recommend either "Vorbis" for OGG or "uncompressed audio, integer" for WAV. Leave the bitrate at 192 and click "Next".
8. Choose the matching filetype for the audio you picked and click "Next".
9. Choose the filename to save to. Navigate to the folder you want your audio in and give it a filename, *including* the right extension. (The program doesn't automatically give files extensions.) Click "Save", then click "Finish" and the program ought to go about its job.
I *think* that ought to do it. Up until now I've only ripped video file audio to WAVs, so I'm admittedly a little fuzzy on DVD ripping and saving to formats other than WAV.
Peace & Luv, Liz