How can I rip audio from a DVD to play as MP3 or burn to a CD

Keep in mind that unless you are copying something for your own personal use from a DVD that you own, copying a DVD is usually a copyright violation, which is illegal and dishonest.

Use a DVD ripping tool (see 4.8 and 6.4.2) to extract Dolby Digital or PCM (WAV) files from a DVD. Then use a utility to convert to MP3, WMA, or other formats, or to burn to an audio CD.

Alternatively you can connect the audio output from a DVD player (see 3.1) to an audio recorder or to audio inputs on a computer.