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Unlike floppy discs and hard drives, CD-ROMs are not made up of many concentric tracks -- CDs are essentially one long string of data in a spiral*. From the CD-R FAQ:
[Discs are composed of] multiple sessions composed of multiple tracks composed of sectors, and the data in the sectors is interleaved and spread over a large area.
There's more to a CD than this. The lead-in data (at the beginning of the spiral) and subcode data (pretty much stored beneath the spiral) can be difficult to read and harder to write. Again from the CD-R FAQ:
Making a "bit-for-bit" copy of a disc would require reading the data at the lowest possible level, something that no production CD-ROM drive is capable of doing. Even if it were possible, there aren't any CD recorders that can write that sort of data.
With all that said, a German company named Elaborate Bytes has produced a software package named CloneCD which seems to be able to duplicate just about any CD:

http://www.elby.de/english/corp/index.htm

CloneCD, being able to create near 1:1 copies of copy-protected CDs, has earned a place in the hearts of pirates everywhere -- see Usenet newsgroup alt.binaries.cd.image.clonecd for details.


* According to Andy Poggio's excellent (if dated) CD-ROM Technical Summary -- From Plastic Pits to "Fantasia", the single spiral track on a CD is around 3 miles long (just under 5 kilometers).

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