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I just stumbled into a very cool Greasemonkey script called YouTubeHD Download Mp3 and Video.

The script does exactly what it says: downloads mp3’s and videos without the need of a software or extra Firefox extensions.

I’ve tested it myself and it works perfect.

Click on the image to enlarge.

If you don’t have Greasemonkey, you can downloaded from here.
You can then install the script above.

Extra: another great script for Youtube videos is YouTube HQ + 720p, which will automatically force your YouTube videos into high quality.

Enjoy them!