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I have some difficulty in nodal analysis

I want to know basically how to apply KCL and Ohm's Law to find the equations

few branches meet in a node

I know that KCL means that sum of currents that enter are equal to the sum of currents are leaving the node

the problem is that I may not know the directions of the currents

1) do I choose them arbitrarily?

2) after choosing them arbitrarily, how do I find the voltage difference across a branch? V1-V2 or V2-V1 ?

thanks!