The average rate of a reaction is a good approximation of an instantaneous rate when the concentration is measured during relatively brief time intervals.
At any point during such a little period, the average rate will be extremely near to the instantaneous rate. The average rate will differ from the instantaneous rates inside the period more when time intervals are longer.
The concentration change during a chosen time period is the average rate. When you take the measurements makes a difference.
The rate at a specific moment is known as the instantaneous rate. Finding the slope of the tangent to the concentration vs. time curve at that point yields the answer.
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