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Google AnyVideoConverter or Youtube Downloader. I’ve used both, and never had a problem with spyware.
Personally I prefer AnyVideoConverter, since it can not only download videos from youtube, but can convert videos to MP3 audio files if you want to rip a song if you can’t find it. Very handy. 
I use http://keepvid.com. Granted some vids are unable to be downloaded (I think if user prevents embedding), but it seems faster for me. And yes, AnyVidConverter is good for transforming to MP3 (music videos) or Avi’s and Mpegs if needed.