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Median
Segment w/endpoints vertex + midpoint of opposite side
Centroid
Point of concurrency of the medians of a triangle, center of gravity, always inside
Centroid Theorem
The centroid of a triangle is located 2/3 of the distance from each vertex to the midpoint of the opposite side
Altitude
Perpendicular segment from vertex → line containing the opposite side. Outside in obtuse triangles, vertex of right triangle, inside acute triangles
Orthocenter
Point of concurrency of the altitudes - can be in, on, out