For a simple and effective PDF viewer, you can now (iOS 4.0+) use the QuickLook framework:
QLPreviewController *previewController = [[QLPreviewController alloc] init];
previewController.dataSource = self;
previewController.delegate = self;
previewController.currentPreviewItemIndex = indexPath.row;
[self presentModalViewController:previewController animated:YES];
[previewController release];
You need to link against QuickLook.framework and #include
For anything more complex, just grab the excellent PSPDFKit.