Use this simple method if you are using a Mac and just need to quickly print something, and do not wish to add the printer to your queue. If you need to add the printer to your queue for future printing, use the article titled How do I add a printer to my Mac using AirPrint?.
After you have sent a command to print and are presented with the print dialog box, click the dropdown menu to choose a printer, and select "Nearby Printers" as shown below. That will open an additional submenu of all the available nearby printers that are using AirPrint. From there, simply select the appropriate printer and then complete your print job.
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