How to remove article id from the sef url on a Joomla site

When you activate search engine friendly urls on your Joomla site the article ids tend to be included in the urls even though they are not part of the alias you have defined. This is annoying and there are two solutions:

1) Install a Joomla seo extension that lets you change the urls to your liking.
2) Add the article as a menu item (Article layout) in the menu manager and define the alias to your liking for the particular menu item. This way the article id will be omitted from the url when the article is displayed.

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