If a defendant charged with a crime elects to proceed without counsel, or to enter a plea of guilty or nolo contendere with or without counsel, a waiver and acknowledgment of rights form and certificate of the judge on a form prescribed by the Supreme Court shall be signed respectively by the defendant and the judge and filed with the papers in the case. If the judge finds that a defendant acknowledges his rights and knowingly and voluntarily waives the same, but refuses to sign the waiver form, the judge shall so certify.