the same way as in windows
cdrdao read-cd --device x,y,z --paranoia-mode 3 --with-cddb disc.tao to rip the audio from the cd, where x,y,z is the scsi id of your reader
cdrdao write --device x,y,z disc.taoto write the cd, where x,y,z is the scsi id of your writer
sorry for my english