Is there a way to legally download youtube videos for free onto my computer?, so i can put it onto my ipod/mp3

No. There are no legal ways. The only way you might be able to get the videos is to ask the user who uploaded/owns them if they might email you a copy.
or if the video is on your account, theres a way to retrieve the video

Alright thanks for the information

roperty rights under the law. Content is provided to you AS IS. You may access Content for your information and personal use solely as intended through the provided functionality of the Service and as permitted under these Terms of Service. You shall not download any Content unless you see a “download” or similar link displayed by YouTube on the Service for that Content. You shall not copy, reproduce, distribute, transmit, broadcast, display, sell, license, or otherwise exploit any Content for any other purposes without the prior written consent of YouTube or the respective licensors of the Content. YouTube and its licensors reserve all rights not expressly granted in and to the Service and the Content.



Tl;dr ,

Its against youtubes terms of service