dd, disk dump is an easy to use Unix and Linux tool, for creating backups, copying files, formating filesystems, creating ISO images , etc.

In this article I will show you how to create a CD or DVD ISO image, easily from the terminal.
dd syntax: dd if=input_file of=output_file
First, make sure that the cd and dvd are not mounted. Unmount them if necessary.
So, make CD image with dd:
# dd if=/dev/cdrom of=~/cd.iso
Make DVD image with dd:
# dd if=/dev/dvd of=~/cd.iso
Because I have a single S-ATA cd/dvd ROM, my system simlinked both /dev/cdrom and /dev/dvd to /dev/sr0 . (/dev/sr0 is the first s-ata rom)
$ ls -l /dev/{dvd,cdrom}
lrwxrwxrwx 1 root root 3 2012-08-15 07:50 /dev/cdrom -> sr0
lrwxrwxrwx 1 root root 3 2012-08-15 07:50 /dev/dvd -> sr0
So, I can also use this command for creating CD and DVD images:
# dd if=/dev/sr0 of=~/cd.iso
dd is a generical Unix command, so it can be used on most of the Unix and Linux Systems.
Related article: How to securelly wipe hard disk before selling it, with dd