I've got this live concert DVD which is single layer double sided. One side has a Dolby Digital 5.1 AC3 sound track and the other side is PCM linear stereo. I want to rip the PCM stereo sound track. What do I need and how can I do this?

DVD Decrypter rips the VOBs just fine, but then how do I get the PCM audio out of that? DVD2AVI doesn't get any audio out of the VOBs and Exact Audio Copy can't see any PCM audio track on the DVD either.

Any ideas?