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Yes, you can still annotate using your iPad. You would just need to tap the pencil icon on your screen and this will open the annotation tools.
You may also refer to this article: https://support.zoom.us/hc/en-us/articles/115005706806-Using-annotation-tools-for-collaboration
Hope that helps and please make sure to mark the solution as accepted if this information is what you needed.
My original question may have been unclear. This relates to the ability of another participant in the meeting being able to annotate over an iPad share. For example, one participant in a meeting is sharing their screen with an iPad. If this is the situation, the other participants in the meeting cannot annotate over that share. This is not the situation if the sharing is occurring form a Windows or OS platform. I hope this clarifies my original question.