Simply put, there's AnyDVD (a paid application), DVDFab (I believe there's both a free and paid application) or MakeMKV (free for DVDs) for ripping encrypted DVDs. MakeMKV is what I use, but it won't rip an image of a DVD, meaning no menus are anything like that, just the movie content itself (and bonus features, ripped as separate files).
As for copying ripped DVDs to VHS... not even sure this is possible (or feasible for that matter) as I've never heard of anyone trying to do this. I would imagine it's not easy, time consuming and to be honest kinda pointless, in my opinion.