[macvoiceover] Extracting YouTube Files

Greetings everyone,
        I need to learn a piece of music for work that I can only seem to find 
on Youtube.  Is there a way to download the file and convert it to .mp3, so 
that I can then listen to it for learning purposes, rather than just 
entertainment?  What software works best for this?
Thanks so much for your help.
Suzanne >
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