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Striker Liam Nash has signed a two-year deal with Gillingham.
The 21-year-old forward has been on trial at Priestfield during pre-season.
He scored twice in the double-figure pre-season win over Chatham in midweek and also won a first-half penalty at Dover last weekend.
Nash scored 37 goals last season for Maldon, and Pennock said: "We are delighted to sign Liam.
"He has been fantastic in training and his performances in the games we have played have been impressive.
"The fans took to him instantly and we now look forward to working with him.”
Nash added: "The way the fans have supported me over these past couple of games is very welcoming. I’ll give 100 per cent back to them.
"I’m going to put the effort in to get my starts and do my hardest to get the ball in the back of the net.”