How can I scrape all the urls for a domain?

You can trim the url to root, so you have the domain homepage.  Then you can use the site operator to scrape the addtional urls.

site:http://www.rootdomain.com

Tip:  When using search operators, its important that you understand what operators do and how they work with the different engines.  Some Google searches on search operators will lend a lot of useful information.