Finding child element of parent with JavaScript

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What would the most efficient method be to find a child element of (with class or ID) of a particular parent element using pure javascript only. No jQuery or other frameworks.

In this case, I would need to find child1 or child2 of parent, assuming that the DOM tree could have multiple child1 or child2 class elements in the tree. I only want the elements of parent

<div class="parent">
    <div class="child1">
        <div class="child2">
        </div>
    </div>
</div>

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