Angle Bisector
A ray that divides an angle into two congruent parts
Incenter
Always in the interior of the triangle; point of concurrency of where all the angle bisectors cross
The Incenter is
Equidistant from the sides of the triangle
Median
From a vertex to the midpoint of the opposed side
Centroid
Always interior; point of concurrency of where all the medians meet
Centroid Theorem
The distance from the vertex to the centroid is 2/3 the length of the median