I'm looking for the same thing. I will mention that there is a difference between PDFs that are locked with a password and ones that are encrypted (you have to put a password in before it can be viewed).
If the PDF is just locked then there are a ton of free tools to unlock them (it's just a lock flag in the file) some of which have been mentioned.
If the PDF is encrypted AND you have the password then
PDFKey Pro is the only solution I know of that actually works. It is shareware but it only does 1 page if you haven't purchased it.
If anyone knows of a free solution for encrypted PDFs when the user has the password I'd love to know it.
(For me, I have a church directory that is encrypted and I want to strip the password protection so I can view it on my iPhone without having to put a password in every time).