There's a "draw box" and "draw circle" action that can do that.
To erase you have to clear everything with the "clear canvas" action and re-draw everything else. Another idea is to draw over the thing last drawn with white or whatever the background color was. I guess for either you need to come up with a way to keep track of what was drawn.
It's much like mspaint in that once something is drawn it's just pixels.
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