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You find the difference in electronegativity values between the elements, and if the difference is greater than 0.5 than the molecule will be polar towards the more negative atom. However, if all atoms point towards - for example - a central atom, then the molecule is non-polar as there is no overall direction.
You also have to determine the shape of the molecule, which also has an effect on the polarity of the molecule. For instance, on paper, NH3 seems like it would be a nonpolar molecule, since all of the dipole moments cancel each other out. However, since it is a trigonal pyramid (not trigonal planar) molecule, there is a dipole moment.
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