So far the easiest and best solution to reading a PDF on the iPad for me has been to buy GoodReader. I paid $1, but apparently that is a special price. It has the capability of saving the PDFs locally on the iPad and will let you download them from your Dropbox, from the web, or by uploading them over WiFi. It's really a bummer that I can't just drop a PDF into iTunes and read it that way. The other way is to either browse over the web in Safari, or email a PDF to yourself and view it in mail.app.
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