Extracting audio from a VOB/DVD

I have a DVD from which I wish to extract an audio clip. I used the raw VOB files and mplayer. The clip I wanted is 37 seconds long and starts 18 minutes and 53 seconds into the first VOB file.
mplayer -ss 18:53 -endpos 37 -vc null -vo null -aid 128 -ao pcm:file=vts.wav VTS_01_1.VOB The important thing to note is that the end position (-endpos) is relative to the start position (-ss). This gives me a WAV file that I could use right away, but I wanted an MP3 for my iPOD.
lame vts.wav vts.mp3 Now I have an mp3 of the audio clip starting at 18:53 and lasting 37 seconds.