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I just turn mine upside down and give it a bang on the back, was shown to do that when I did a mobile computer cleaning job. Quick easy and works was what my company told me and must say it seems to be true.
I turn mine upside down and give it a gentle tap on the bottom.
I know someone who used the vacuum on their keyboard and it sucked a key off, the only place I use a vacuum on mine is on the air grids to keep the fan free of dust.
I usually run my vacuum, with brush, over the keyboards, on both desktop and laptop. Sometimes I just use a wide clean paintbrush to wipe the dust away.
I turn the keyboard upside down, I use a vacuum cleaner with brush. And every once in a while, when the sides of the keys look really disgusting (like, about now), I pry off the keys and clean 'em with old fashioned soap and water.