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a lot of how a molecule is polar or not can be determined by the symmetry of the molecule. if a dipole is present in an individual bond but has an identical counterpart opposite to that bond, the dipoles will cancel and the molecule will be nonpolar. if dipoles do not cancel due to symmetry, the molecule will be polar. a molecule can also be polar if not all dipole moments cancel; a good example of this is CCl4 (nonpolar), but if instead CHCl3, not all the dipole moments cancel and is thus nonpolar. 2E.3 in the textbook (and the diagram 2E.7) explains this really well!
You look at the bonds and symmetry. If the bonds are covalent with no dipole moments, then it is non-polar. If they are polar bonds but there is symmetry it is also non-polar. Only if both of these are false then can it be polar.
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