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CO can be linear and have a dipole moment because it is not cancelling out. The oxygen will "pull" on the carbon creating a dipole moment. In comparison, CO2 does not have a dipole moment because it is linear and the bond dipoles cancel each other out.
The shape doesn't necessarily affect whether or not there exists a dipole moment or not. Instead, look at the formal charges or the electronegativity of the atoms. Although oxygen is more electronegative, the bonding and formal charge in the case of CO breaks the rule. Carbon is slightly negative because its formal charge is -1 and oxygen is slightly positive as its formal charge is +1
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