Solution: It couldn't be easier to get the audio from DVD by recording. Just with a single click, you can get the audio you want without trimming. If you are caring for the sound quality, then you'd better to choose a professional recorder.
DVD Audio Recorder for Mac
AllMyMusic for Mac is the most professional recorder that I have ever used. It enables Mac users to easily record any audio played on your computer such as: record DVD audio, record online music, record radio programs, etc. The recording files sound the same as original files so you do need to worry about the sound quality. Besides, the program will automatically identify the music tags if you record the music from websites.

Tutorial on recording audio from DVD mac
Install AllMyMusic for Mac on your computer and launch it.
Click the "Record" button and then play your favorite segments from DVD to record it.
To stop the recording, just click the "Record" button again.
Now just import the recording files to your portable device for entertainment as you like. Have a try on it and you can record audio from DVD at ease!
Related tags:
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