I can't believe that no one has mentioned Prototype and scriptaculous yet - especially since they have the largest market share, and arguably the largest backing by communities such as the RoR community. These libraries are great, there are lots of documentation and tutorials for using them, and tons of additional projects and plugins that work with them. If you are just getting started in the world of JS - start with Prototype and Script.aculo.us - you'll love the power and syntactical sugar =)
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