Install YouTubeLoader plugin for firefox
First you need to install greasemonkey
If you already have this script just skip ahead to
the second part
Don't have firefox yet --->

Surf to the following link :
Download Greasemonkey here
Press the install Button
This window appear, press the install button
After downloading finished press the restart firefox button
Install the script
Click on this link -->
Download YouTubeLoader Plugin here
Press install
This means the installation was successful
Time to enjoy it on YouTube now
Now you only need to browse to your favorite youtube video and you will see this link