Here is a free video to audio converter that you can download free. One of the features is the batch conversion which I think is useful for those with many files to convert.

Another feature is that it can convert from many format to many output format. And you can choose the quality of the conversion. I did not really evaluate the software. Do try it out. I guess if the software can input URL (like Youtube) direct, it will be perfect. 🙂

Click Here to Download the Free MP4 to MP3 Converter

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