A printing apparatus for printing within a predefined print zone on a selected surface of a skewed object moving in a given direction of travel includes a bracket, at least two sensors at known positions adjacent to the passing object detecting the leading edge of a given surface, a positioning mechanism mounted on the bracket, a printhead mounted on the positioning mechanism and operable to print on the moving object selected surface, the positioning mechanism operable to position the printhead into a known correct printing position relative to the selected surface, and a controller communicating with the sensors, positioning mechanism, and printhead, and operable to calculate object skew in response to the sensor signals and to operate the positioning mechanism to position the printhead into the known correct printing position and to operate the printhead to print within the predefined print zone on the skewed moving object.