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In the missions you get higher ranks by finishing faster and taking low amounts of damage. If you finish in the shortest time bracket (which is unknown as the game doesn't tell you what the brackets are) you can earn up to 200 bonus; if you finish with zero damage taken you get the same. More time = less bonus, down to zero; more damage = less bonus, down to zero as well.
I only just started playing myself (currently in Chapter 2), but I've only been able to manage B rank at best myself (with lots of Cs and Ds). Seems you need to be levelled up and have better weapons (and do subsequent playthroughs) to get the higher ranks. I'm sure it's possible while you are weak/new but seems like it would be a lot easier once you're upgraded.
In the Challenge sections OTOH, I'm not sure how you get SS there. I finally got through the very first one of those (on Commander) and got SS rank at the end. How, I'm not sure but that's what it said!
Melee weapon attacks are only useful for stunning, interrupting, and doing a little supplemental damage to get it over quicker so you get the time bonus. The main purpose of them is getting to the vehicle attack you want, not actually doing damage with the hits.
Ranged weapons are only useful for applying status effects, triggering vehicle attacks, getting headshots, etc. Just shooting enemies over and over without doing any of those is useless points wise.
If you don't need to use any of the above because your weapons kill everything in seconds, take all those + attack and + crit off. You are doing way too much damage.
Damage is not scored at all. For score, damage is useless.
More of a fan of Wonderful 101 or Bayonetta 1 ranking system. In those games basically if you didn't get hit, did the verse in a decent time, and you kept a combo going you got the highest rank. Getting the time requirement was a non issue those game wanted you to be stylish, but avoiding damage was an extreme challenge on high difficulties, keeping a good combo could be difficult as well.
Wonderful 101 and Bayonetta 1 ranking systems weren't perfect either though. Certain encounters had a higher combo requirement than usual, so you were pushed to have the fight go on longer, this is great for pushing the player to use less damaging, high scoring weapons to increase combo and to diversify the gameplay. The issue is there is no indication on what the game wants the player to do, until they played the verse several times.