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D’Angelo performs during FYF Fest at L.A. Memorial Sports Arena & Exposition Park in Los Angeles, Aug. 23, 2015. (Photo by Rich Fury/Invision/AP, File)

D’Angelo performs during FYF Fest at L.A. Memorial Sports Arena & Exposition Park in Los Angeles, Aug. 23, 2015. (Photo by Rich Fury/Invision/AP, File)

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D’Angelo, Grammy-winning R&B singer, dies

D’Angelo, the Grammy-winning R&B singer recognized by his raspy yet smooth voice and for garnering mainstream attention with the shirtless “Untitled (How Does It Feel)” music video, has died. He was 51.