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A dipole is charge separation. This is reliant on electronegativity. A large enough difference in electronegativity makes a molecule polar. When a molecule has no dipole moments, then it is not polar. A polar molecule has a net dipole (charge separation) because of the presence of opposing charges from polar bonds that are asymmetrical in the molecule.
Dipole moments can exist where polarity does not if they cancel each other out due to molecular geometry in a polyatomic molecule. For example CO2. The oxygen is more electronegative, but the C-O bonds are Both linear so they cancel each other out. If you have version 7 of the textbook there is a chart that shows more molecules like this.
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