This is a hard task to accomplish. First the text need to be converted by an optical character recognition system (OCR) to retrieve the text before it can be translated. The best app I found for this was from a review on android pdf readers.
http://www.amoledscreen.net/2011/03/8-best-android-pdf-readers-for-your.html
They mention Documents to Go using it's built-in pdf reader to get the text from the pdf tile.
"Ability to copy selected text to the device's clipboard and paste it into any other app"
Although it is a paid app, the price is low and is extremely functional when working with all types of documents.
Once you have the text, you then need to translate it to your desired language. For this, google translator should be good enough:
http://translate.google.com/
Once translated, it is your option(if legally allowed) to paste the translated text into a new document and modify to your liking.
I am unable at this time to find a useful android app which can do all of this and maintain the original pdf format and layout.
I hope this helps.
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