Solução MPlayer
Para pré-visualizar a faixa, por exemplo, 3 use o comando
mplayer vcd://3
Para converter o comando selected track use.
mencoder vcd://3 -audio-preload 0.0 -o file.avi -mc 0 -oac copy -ovc lavc -lavcopts vcodec=mpeg4:vbitrate=2000
O disco VCD geralmente tem muitas trilhas, exemplo de saída do MPlayer:
MPlayer SVN-r36521-4.8.2 (C) 2000-2013 MPlayer Team
...
Playing vcd://3.
track 01: adr=1 ctrl=4 format=2 00:02:00 mode: 1
track 02: adr=1 ctrl=4 format=2 00:48:00 mode: 1
track 03: adr=1 ctrl=4 format=2 00:52:07 mode: 1
track 04: adr=1 ctrl=4 format=2 08:17:26 mode: 1
track 05: adr=1 ctrl=4 format=2 15:42:14 mode: 1
track 06: adr=1 ctrl=4 format=2 23:19:19 mode: 1
track 07: adr=1 ctrl=4 format=2 30:53:35 mode: 1
track 08: adr=1 ctrl=4 format=2 38:40:58 mode: 1
track 09: adr=1 ctrl=4 format=2 46:16:22 mode: 1
track 10: adr=1 ctrl=4 format=2 52:49:40 mode: 1
track 11: adr=1 ctrl=4 format=2 61:44:66 mode: 1
MPEG-PS file format detected.
VIDEO: MPEG1 352x288 (aspect 8) 25.000 fps 1150.0 kbps (143.8 kbyte/s)
Visualize todas as faixas e rasgue se necessário:)