If the above post is right and it's an standard unprotected DVD then using DVD Shrink 3.2 should be simple. Shrink wouldn't be my first choice but because you have it already it'll do. I don't know how shrink handles other DVD's recorded with Camcorders or PVR's, it would depend on there format.
1. Open DVD Shrink.
2. Click Open Disc and select the drive/disc.
3. Click Ok and wait for it to analyze.
4. In the toolbar make sure "Full Disc" is selected if it has menus you want to keep.
- Selecting Re-Author will allow you to copy only the titles you want by draging them into the left window.
5. Click Backup on the toolbar.
6. From the "Select Backup Target" drop down box select ISO or Hard Drive Folder.
- Hard Drive Folder will save it as dvd files that can imported to other programs for editing.
- ISO is easy for straight copying.
- Recommend leaving "Create Video_TS & Audio_TS subfolders" ticked.
7. Select folder to save files in and click ok.
Now you should have a single ISO you can burn to a new disc or a folder with two subfolders, Video_TS & Audio_TS, where you should find, in the Video_TS folder, a number of files with the extension BUP, IFO and VOB. Heres a link to give you an idea of what these files are
Doom9.net - The Definitive DVD Backup Resource
You can now open the files in a different program for editing.
A short DVD shouldn't want any compressing but for reference, when you open the disc and click a title in the left window compression options show up on the right along with checkboxes allowing you to remove Audio tracks and Subtitles.
You want to make sure no compression is being applied unless your copying a Dual Layer DVD to a Single Layer DVD. Do this by selecting the Disc name at the top of the left window and in the right window it should say "Automatic 100%", if not select "No Compression" where it says Automatic.
If working with Dual Layer then go to Edit -> Preferences and change the DVD target size to DVD-9.