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This is not the only way. Nonpolar molecules can have dipole-dipole forces as well, only the dipoles cancel each other out. Therefore, it is important to look at the overall structure of the molecule and their respective dipole moments.
We have to see the difference in the charges. If the difference is big enough the molecule will have an overall dipole moment. But we do have to remember that nonpolar molecules can experience small disparities in their charge which is the Van der waal force. The molecule will be polar if it has a permanent dipole.
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