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I like to look at the electronegativities of the atoms in the molecule to help. For example, with HCL, Cl is more negative than H so the covalent bond makes electrons to be pulled closer to the CL, making it more partial negative, and H as a result, a partial positive.
Yes looking at the difference in electronegativity will help to determine which which, if any, the dipole moment will move towards as well as if they will cancel. If they do, then it's non-polar and if they don't it's polar.
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