<p>I have a touch screen kiosk that displays a webpage and a pdf document. Can I remove the menu bar? Users must not have "save", "print" and other such features.</p>

<p>Update</p>

<p><a href="http://flickr.com/photos/23021917@N05/2209106577/" rel="nofollow noreferrer">random screenshot on flickr</a> - I am refering to the print, back/forward, zoom bar that controls the PDF -- not the browser menu. Sorry for not beeing specific.</p>

Good discussion on using IE7 in Kiosk mode:
http://samanathon.com/internet-explorer-7s-kiosk-mode/
If Firefox is on option for you, see this plugin:
R-kiosk
Real Kiosk is a Firefox 2.0 - 3.0 extension that defaults to full screen, disables all menus, toolbars, key commands and right button menus. Alt+Home still takes you home