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FORM in sign language
There are a few ways of expressing the concepts of "form" in American Sign Language (ASL). Plus a lovely art on the theme of "form" and "emptiness".
ASL signs for "form"
How to sign "form" in ASL:
Meaning: Form as in art form (the shape and structure of an object).
Pronunciation (sign description): Two-handed held in space, palms facing each other, moves downward a bit with a shape of motion. The handshape may be "10" or "5", depending on the subjects.
Context / usage examples: "form is one of some elements of art".
Meaning: a form or document with blanks to be filled in.
Pronunciation (sign description): Both "F" hands held in space, palms facing roughly outward, tips of forefingers and thumbs in contact, diverge apart and then move downward.
Context / usage examples: "complete your application form".
Deaf Art
The quote "Form is Emptiness; Emptiness is Form" is from the Heart Sutra which was translated into ASL with the movements captured in light on camera.

"Photocalligraphy: Form is Emptiness; Emptiness is Form" (2007) by Jolanta Lapiak is one of the photocalligraphy series where movements in ASL translation are captured in light on the camera.