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try renaming the your file from "file.aa" to "file.mp3" It might work.
http://www.any-audio-converter.com/audiobook-converter/convert-aa-audiobook-to-mp3.php
http://forums.makezine.com/comments.php?DiscussionID=2724
http://www.riverpast.com/en/prod/audioconverter/
try these sotwares..and tell me what happened....
Legally, you can't. In theory, you could burn your audiobook to a CD without DRM and rip it, but this would violate the Audible Conditions of Use and there could be legal consequences. In sum, don't try it.