Is there a free program which allows you to remove the DVD-Copy protection?

I'm looking for a program which can remove the copy-protection from DVD's. I know there are alot of programs out there (which must be paid for), but I'm also trying to find out if there's a FREE program which allows you to remove the protection.

Finally,with the recommendation of my friend,I learn a DVD Copy Software named Mac DVD Copy can remove dvd protection on your Mac.