Bob McGrath, an American actor and cast member of the children’s programme Sesame Street, died at his family home in New Jersey on Sunday (December 4).

McGrath’s family revealed his passing in a Facebook post that stated: “The McGrath family has some sad news to share. Our father Bob McGrath passed away today. He died peacefully at home, surrounded by his family.”

According to the Washington Post, McGrath’s death was due to complications caused by a stroke.

McGrath joined the Sesame Street cast in 1969, as the neighbourhood music teacher, Bob Johnson.

He is widely remembered for his joyful personality and melodies that entertained young viewers watching Sesame Street.

He also recorded ballads, pop songs, folk songs and instructional songs for children. Some of these were The Golden Topsy, Home Sweet Home and On the Street Where You Live.

McGrath is survived by his 89-year-old wife, Ann McGrath, and their five children.