Hi,
The very first part of the URL is the Menu title. You can disable adding this part to URLs for each component separately using Manage Extensions page in JoomSEF. There you open parameters for each component and there on the Common tab disable the "Show Menu Title" option.
If you use menu items for each category in VirtueMart, then each category has its own Itemid (which is ID of the menu item). This very often causes duplicates to be created, so it's good idea to select one menu item as main for VirtueMart, find its ID in Menu Manager, and then open VirtueMart extension parameters from Manage Extensions page in JoomSEF and on the Common tab set "Itemid handling" to "Override" and "Override Itemid" to the menu item ID.
The .../ask URLs are created by VirtueMart, they are the links to "Ask for product pricing" feature in VM.
After making any changes in configuration of JoomSEF, make sure you delete the already created SEF URLs using Manage SEF URLs page and clear Joomla and JoomSEF caches, so the URLs can be recreated.