1. An apparatus for printing a document, the apparatus comprising: a handheld, portable housing; a plurality of absolute position sensors for generating position information; a controller mounted to the portable housing for controlling printing, the controller coupled to the plurality of absolute position sensors to receive the position information and use it in controlling printing; a projector for projecting an image of the document to be printed, the projector mounted to the portable housing; and a print head for outputting ink in response to a signal from the controller, the print head mounted to the portable housing and coupled to the controller.