Tim Nugent pretends to be a mobile app developer, game designer, and PhD student, and now he’s recently branched into pretending to be an author. (He cowrote the latest versions of Learning Cocoa with Objective-C, Swift Developement with Cocoa, Learning Swift, and the Kerbal Space Program Players Guide for O’Reilly.) When he isn’t busy avoiding being found out as a fraud, Tim spends most of his time designing and creating little apps and games he won’t let anyone see. He also spent a disproportionately long time writing this tiny little bio, most of which was taken up trying to stick a witty sci-fi reference in... before he simply gave up.
So I am not really an expert on youtube-dl but I do know it supports more sites than just Youtube so it might be good enough.
The -F flag may not be what you are after however as that lists the available formats, not videos.
If you know the URL of the video you are after then just going "youtube-dl http://sitename/video" will work nine times out of ten.