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Median of a triangle
A segment with endpoints being a vertex of a triangle and a midpoint of the oppposite
Centroid
The point of concurrency of the medians of a triangle
Theorem 5.7 Centroid theorem
The medians of a triangle intersect at a point called the centroid that its two thirds of of the distance from each vertex to the midpoint of the opposite side
Altitude
A segment from a vertex to the line containing the opposite side and perpendicular to the line containing that side
Orthocenter
The point were the the lines containing the altitudes of a triangle are concurrent intersect