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Use youtube VIDEO ID | http://www.youtube.com/watch?v=tZXGtyMVusg
NB: MP4 (HQ) or (HD) only if formats are availables to download

Video ID:
Type: Format FLV   Format 3GP   Format MP4 Format MP4 (HQ) Format MP4 (HD)  
format FLV = Low resolution
format 3GP = mobile phone
format MP4 = video 360p or 480p
format MP4 (HQ) = MP4 High Quality
format MP4 (HD) = MP4 High Defenition 720p, 1080p, 1440p, 1920p