Get Firefox (Kinda like Internet Explorer, I find Firefox better :P), get the add-on Grease Monkey, go to Youtube, find the video you want to download, at the top of Firefox you see the line: "Save as Flash Video", Convert the video to MP4 with PSPVideo9, save the file onto your memory stick, done!
And If you want to watch MP4/Youtube Files thingies on your pc. You'll have to download a codec. "klmcodec160beta" is perfect.
Hope I helped you a bit, if not, too bad.
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