Straightforward way is
ffmpeg -i LostInTranslation.mkv -vcodec copy -acodec copy LostInTranslation.mp4
To convert all the mkv files in current directory, run a simple loop in terminal:
for i in *mkv; do ffmpeg -i $i -vcodec copy -acodec copy $i.mp4; done
No encoding happens. just video codec is being converted to audio codec