Adobe Acrobat free hand program

To be honest I'm not sure of any free pdf that can do that...if it's a one off you could use the trial version though.
 
Ok what about this as a slightly out there approach but it does require windows 8/10 due to needing 'reader' app.

If you open a pdf in reader you can then send it to onenote (which is now free) and then do the handwritten notes there. (link to instructions)

I've checked with onenote 2010 and reader on windows 8 and it does seem to work but it took a little while to 'print' the pdf I tested with.
 
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