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Usually I receive a PDF contract that I need to sign and send back online. I am wondering what is the easiest way to do so on computer, to avoid the hassle of print/sign/scan process?

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possible duplicate of Inserting an Image into a PDF –  Tom Brossman Dec 12 '12 at 9:30
    
The question is not consistent with the title, do you want to edit the PDF or add something on top of the PDF. The latter is easier. –  alfC Dec 14 '12 at 5:46
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4 Answers

There are best tools available in Ubuntu for pdf editing like PDF-Shuffler, pdftk, inkscape. Visit this link for pdf editing in different scenarios.

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I need to write on a document that is already PDF, not to convert a document to PDF. –  alfish Dec 13 '12 at 15:33
    
Inkscape is able to do that –  franzlorenzon Mar 11 '13 at 9:13
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Xournal is a good interactive option to write on top of existing PDF. It supports digital pen or you can paste/import your signature.

sudo apt-get install xournal
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For your purpose an easy way I do it is using GIMP. You can import a pdf file (or one of its pages) into GIMP. It has native pdf support. You can then add your signature (either draw it or copy it from another file). This works nice for single page pdfs.

For multiple page pdfs you can check how gimp handles them here.

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You could try installing Oracle PDF Import Extension in Libreoffice. You can find it here.

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Importing it will probably change the structure of the file as it will convert it. For the purpose of just "signing" it, this is not a good suggestion, I think. –  gertvdijk Dec 20 '12 at 13:35
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