Changing the URL without reloading the page

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I would like to know if it's possible to change the contents of the URL in the browser without reloading the page?

I use jQuery and Ajax to load new parts of my page. When I choose "product one", the direct link would be mysite.com/product1 and for "product two" would be mysite.com/product2, but I don't want to reload the site to these pages.

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