Concurrent:

In order to find out whether vectors are concurrent, there must be a body for the force to act upon. The
body is a point in space. A typical example is a cable attached to an eye screw. If there is only one cable
and the body is suspended, the forces of gravity and the cable will be concurrent. All forces on a
suspended load are concurrent.

Concurrent forces are two or more forces whose lines of action intersect at the same point to cause
rotation. The forces do not necessarily have to be applied  

For example: If two people stand the ends of a rope and pull on it, the forces are concurrent because the
effect of the forces will intersect at the same point (presumably in the middle of the rope). A real life
example of this would be a tug of war competition as shown in the image above.

Varignon:

The Varignon Theorem is a theorem by French mathematician Pierre Varignon (1654-1722), published in

1687 in his book Projet d' unè nouvelle mèchanique. The theorem states that the moment of a
resultant of two concurrent forces about any point is equal to the algebraic
sum of the moments of its components about the same point. In other words, "If
many coplanar forces are acting on a body, then algebraic sum of moments of all the forces about a
point in the plane of the forces is equal to the moment of their resultant about the same point." [1]

Proof[edit]

Centroid & centre of gravity:

The centroid is purely a geometrical thing. It is the centre of gravity for objects of uniform
density. But an object's density can be non-uniform, which will move the centre of gravity
away from the centre.

Imagine a 2D shape made from cardboard. The point in the middle where you can balance it
on the end of a pin is the centroid. But if you then replace part of the shape with steel,
keeping the same shape, the centroid is the same but the centre of gravity has shifted -- it
won't balance at the same point anymore.

Yes, center of mass, center of gravity or centroid means the same thing. They are different
terms coined for a same scenario but from different scientific fields. But wait, I am not done
yet.
Difference:

Centroid assumes that the density of material lying around does not vary. It is strictly a
geometric term. But if the mass lying around is different in densities then my center of mass
will be shifted towards heavier objects and center of mass and centroid will not coincide
with each other.

Center of gravity as long as it is assumed that gravity is constant everywhere is the same as
center of mass. But suppose a uniform plate is placed in such a way that one half of the plate
experiences earth's gravity and the other half does not, then my center of gravity will shift
towards gravitational field. While the center of mass and centroid will be at the center
coinciding with each other. (Assuming plate is made of uniform material and has uniform
thickness)