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Singer D'Angelo died after facing pancreatic cancer, PEOPLE previously confirmed

His family announced that he died on Tuesday, Oct. 14

In a statement, the family said, "We are saddened that he can only leave dear memories with his family, but we are eternally grateful for the legacy of extraordinarily moving music he leaves behind"

D'Angelo' s family has broken their silence on his shocking death at age 51.

The neo-soul icon's family confirmed that the Grammy winner had died on Tuesday, Oct. 14, after facing cancer.

“The shining star of our family has dimmed his light for us in this life," the singer's family told PEOPLE in a statement. "After a prolonged and courageous battle with cancer, we are heartbroken to announce that Michael D’Angelo Archer, known to his fan

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