You can get VCDEasy (www.vcdeasy.org). There is a commercial version and a freeware version now, and the freeware version is still very well featured and not crippleware (it's just an older version).
Basically, VCDEasy is designed to create and even burn VCDs and SVCDs, but it can also disassemble a (S)VCD, which means convert or "rip" it to MPEG format (either MPEG1 or MPEG2 depending on if you're using VCDs or SVCDs). Then you can just grab the MPEG and throw it through Kinoma to play it on your Palm.
I recorded virtually all the SpongeBob Squarepants episodes to VCDs (using a PC-TV card and VCDEasy), and I've since used VCDEasy to rip some of the kids' favorite episodes back to MPEG1 format, and then bring them on a SD card in my T2 when we go on long shopping trips, or anywhere that may be trying their patience. As soon as I tap the play button in a store, their temper tantrums are SILENCED immediately. I'm a parent in heaven!
If you have any questions after getting VCDEasy, don't hesitate to email me directly or ask them here if you think it will help others to do the same thing.
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