Extracting Surround Music Discs

I own a couple of multi-channel Surround Sound music albums on DVD, Blu-Ray, and SACD discs. I wanted to extract them all to a hard drive to avoid the nuisance of putting discs in slow (and often stammering) CD/DVD/Blu-Ray players with unfriendly navigation menus, and wanted to have a backup of the audio in case the discs go bad. Each of the different formats requires different tools to convert them to a playable format, so it took me some time to figure out how to convert each one of them.