Simple by adding .qr to the end of any goo.gl URL the sevice will create a QR image for you to use with any QR reader.
A QR Code is a square matrix barcode, readable by QR scanners or mobile phones with a camera. The code consists of black modules arranged in a square pattern on white background.
The information encoded can be text, URL or any thing else you can think of. Simple viewing the code in the QR reader will then load up the shortened URL from goo.gl.
Via Tech Crunch