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As I understand it, lp is for text and postscript files so you would have to convert your pdf's and jpg's to postscript and pipe the output to lp. I don't know how to do that from the command line, but Adobe have a version of their acrobat reader for linux, and there's also a program xpdf. You should be able to print pdf's from either of these.
For jpg's, there are a ton of graphics programs that will let you print them.
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