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there should be a rear panel to remove and check to see if there is any small peices of paper caught in the rollers or obstructing one side, if not the grip on the the roller is worn or the paper aligning bar is open too wide and allowing the paper to tilt.
This is a more common problem with shiny surfaced paper, so try a more matt rougher quality paper.
Does this happen when you using the document feeder?? Try placing the original document on the big glass see what happens might be you document feeder needs to be adjusted or the original document is hitting a obstruction in the path as it is being scanned. Does it print OK? Vise copy?
Most likely to be a page feed problem, look online to clean page feeder rubber rollers.
Try here for the pdf manual which covers problem with jams and skewing
I also had this problem, through trial and error I found that if you go into File, Page setup in excel then the Page tab, make sure the print quality is set to 600 dpi. Once I did that it printed correctly.