Ripping songs from DVD-singles?

I finally got a copy of the Redondo Beach / There Is a Light DVD-single, and I can't figure out how to rip the non-video tracks from it. I'm using an OS X app called HandBrake, which does a great job on the two video tracks, but it doesn't list non-video ones as available tracks. If I have to, I can play the songs on one computer and capture the sound output on the other, but I'd rather not go to the trouble. Can anyone help me out?
 
I just open Windows Media Player and click on the tab "copy from cd".
 
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