I know 2 ways - first, email the file as an attachment to your kindle email address (your user name)@kindle.com with convert in the subject line.
A second way is to download calibre (lots of info in these forums) and convert the PDF to a mobi file, then upload to your Kindle using the USB cable.
Both of these may have translation issues - graphics don't always work well. I was able to figure calibre out pretty fast.
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