If you want a program that will copy the disc to the hard drive and also remove the copy protection so that you can burn it to a new unprotected disc, MacTheRipper will do that, but it looks like it hasn't been updated in a while. Nevertheless, you can play it using a program like VLC which doesn't need the keys, since it is able to circumvent the encryption. So if you burn a new disc with this image it will not play on a standard DVD player. But if the disc is copy protected, it contains decryption keys in the lead-in area of the disc which cannot be read directly, and are not part of the ISO image. As mentioned in other answers you can use Disk Utility or dd to create an ISO image of the original disc.
