extracting the audio from DVDs

[Darcy Burnard]

Hi everyone.  Do any of you know if there is a way to extract just the  
audio from a dvd on the mac?  I know there are programs like handbrake  
that can get both the video and the audio, but I just want the audio  
if possible.  Can handbrake do this, and if not, does anyone know of  
anything else?
Darcy