The New England Revolution forward had been denied a work permit when a deal was agreed in the summer but is at last able to join the Potters, who are set to loan him out
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The Colombian-born forward, who joins from New England Revolution, added in a post on Twitter that he is set to be immediately loaned out until the end of the season.
Agudelo wrote on Twitter: "There's no other club that has supported and believed in me like @stokecity FC has. #SignedToday - 6 month loan imminent #Europeanfootballer"
The striker has previously played for New York Red Bulls and Chivas USA in his brief career to date and scored at a rate of a goal every other league game for the Revolution during the 2013 MLS season.
He is Stoke's third confirmed signing of the day, with a permanent deal for Stephen Ireland and a loan for Manchester City striker John Guidetti also announced on Tuesday.
There's no other club that has supported and believed in me like @stokecity FC has. #SignedToday - 6 month loan imminent #Europeanfootballer
— Juan Agudelo (@JuanAgudelo) January 14, 2014