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It has to do with the electronegativity difference between atoms. Molecules with atoms of same electronegativity have no dipole movement whereas a molecule such as HF has dipole movement due the electronegativity difference.
Dipole moments develop due to variances in electronegativity. The atom that is more electornegative has a negative value, and less electronegative is positive value. The direction can be shown by drawing an arrow from positive to negative atom, since the negative atom pulls electrons towards itself due to its greater electronegativity.
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