A former Milford man has been arrested in New Hampshire on charges he was involved in the fatal beating of a Belchertown man last year, authorities said. Kalem Daniels, 27, was arrested without incident yesterday at a residence on Deerfield Road in Northwood, N.H., the US Marshals Service said. Daniels was being sought in connection with the June 17, 2010, death of Kelly DeMarco. Daniels faces a homicide charge in Massachusetts. David Cargill Jr., US marshal for the District of New Hampshire, said the arrest was “a direct result of teamwork’’ among the marshals and the New Hampshire Joint Fugitive Task Force.