Install Real Player and the Real Player downloader. Click on the video to go to the YouTube site and, when you hover with the mouse over the video, you will see the Real Player downloader tab. Click on it to start downloading.
The downloaded video will be in FLV (flash video) format, so you will need another package to play on a computer that does not have Real Player or cannot play FLV videos.
ETA: A package called "flv crunch" (for Macs) allows you to translate the video from flash to another format.






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