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Can you tell us what model your HP printer is?
Can you follow this like to the HP side and download the Universal driver for your mac http://h10025.www1.hp.com/ewfrf/wc/softwareList?os=219&lc=en&dlc=en&cc=us&product=305383&lang=en
With the prnter connected to the airport can you then run the installer and let me know if the printer does not install correctly.
Are you saving the file to the desktop of your mac first and then installing it?