just drag the icon out onto the desktop and watch it go poof. no need to have any programs in the dock at all really if you don't want them there. i just keep some commonly used ones there, have a few more aliased icons on desktop and go find anything else that comes up that i need. i can't imagine how a printer utility got there unless you put it there. 
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20" 2ghz iMac G5 | 2GB ram | os 10.4 | 15" Ti PB 867 | 1 gb ram | os 10.3.9 | grape imacDV 400mhz | 512 mb ram | os10.2.8/9.2.2 | smc barricade router w/sbc yahoo dsl | HP psc-2355 all-in-one printer | graphire2 | Living happily ever after, every now and then |