Let's say the url you want to see is this one:
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http://www.youtube.com/watch?v=0Ffa3Qa4ah4

All you have to do is replace the "watch?v=" part of the URL for this: "v/" (without the quotes, that's the embedding code), so it should look like this:
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http://www.youtube.com/v/0Ffa3Qa4ah4