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I assume there examples we will be given will have molecules with atoms of obviously different electronegativity, for example NH3 or H2O and we're not expected to know the exact electronegativity.
Usually molecules with lone pairs tend to be polar, ex: trigonal pyramidal has 1 lone pair and is polar, unless the vsepr shape is non-symmetrical and in that case the bond would be non polar despite the lone pairs, ex: square planar has 2 lone pairs and is non-polar because it is symmetrical
I believe Professor said that we should just have an idea of electronegativity, but not necessarily the exact values. However a basic rule is the farther elements are from each other on the periodic table, the more the electronegative difference is.
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