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YouTube videos can be played with free software on gNewSense.
youtube-dl is a free command-line program written in Python which can download YouTube videos.
UnPlug is a free Firefox add-on that can be used for watching YouTube videos. It may not be compatible with the Iceweasel version included in gNewSense, however.
There are a number of free Greasemonkey scripts that are able to play YouTube videos, such as ViewTube and Linterna Mágica. Compatibility with Iceweasel in gNewSense has not yet been identified.