CDs don't have DRM on them -- and courts in the U.S. at least have ruled that it's alright to convert to a different format for one's own use in a different place where the original format may not be possible, such as making cassette tapes of CDs for listening in the car, and it's alright to record copyrighted broadcast material to view at a different time.
But those do not have DRM encoded in them. The U.S. law makes it very clear that it is illegal to circumvent DRM even if the act of doing so allows you to perform legally allowable acts.
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