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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.

The singer, whose re­al name was Michael Eu­gene Archer, died Tues­day af­ter a long bout with can­cer, his fam­i­ly said in a state­ment.

It called him “a shin­ing star of our fam­i­ly and has dimmed his light for us in this life,” adding that they are “eter­nal­ly grate­ful for the lega­cy of ex­tra­or­di­nar­i­ly mov­ing mu­sic he leaves be­hind.”