I had never heard of this authorization so i googled a bit.
Did you read the primary information bulletin on CIC website?
http://www.cic.gc.ca/english/information/inadmissibility/arc.asp#a3
According to this, there is no separate form. In the few situations where you actually need to submit application, you submit a temp resident application form.
An exception might be for specific CIC embassy's where information would be given on the local embassy's website. So you should consult that.
All of this is from the link above.