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If I understand correctly, you want to attach a document to your form that a user can download and print? You can add a download link in JotForm by adding a Text field. You can see this demo below for instructions on how to add link using Text field.
Then you need to have a direct link to your file in google drive that directly downloads it (without opening the drive). You can check this article to know how to get the link: http://lifehacker.com/share-direct-links-to-files-in-google-drive-and-skip-th-1493813665.
Here is a sample form the you can check:
This is the sample google drive direct link that I used:
Please note that the direct link will only work if the document was not created using Google Document (i.e. Microsoft Word) and you just upload the file in google drive.
Do let us know if you need further assistance.