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https://support.google.com/webmasters/answer/2721217?hl=en
Though Facebook won't care as they like being a walled garden.
And Twitter won't care, as Google have a deal with them to get raw tweets via their firehose.
Looking into it properly, it looks like Facebook do exactly this to protect users from spam/bad links. Link
They describe simply doing this (if you're using jQuery):
Although, what you say about Google's penalisation for it sounds most likely correct — I can't find any decent/official word on it anywhere?
Hmmm...