For the published document, the method suggested by dkcwd did not work.
I found the following method in this page . Given the URL of a published document, e.g.
https://docs.google.com/document/pub?id=[ID]
Download link
https://docs.google.com/document/export?format=[FORMAT]&id=[ID]
where [FORMAT] can have one of the following meanings: pdf, doc, docx, oo, rtf, txt.
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