Separating video and audio

Hi,
I took a video(mp4 ) with my cell phone and xferred it to my windows box.
I want to edit to separate the audio Track, about a 10 second slice of it , maybe repeat that section 3 times, or have it auto loop.
I want to save that as a standard audio file like wav or mp4 etc. . .
Is there any free software that does that?

Thanks,
Floyd
 
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