All forms of radiation match the difference in two energy levels, electronic, vibrational, rotational & nmr etc. For IR transitions we refer to molecular vibrations. The molecule must have a permanent dipole or produce a transient dipole as a result of vibrating in one of its normal modes.
So homonuclear diatomics have no IR spectrum, they of course have energy levels, but the radiation cannot 'couple' to these and so be absorbed. Heteronuclear molecule have a dipole and so also have IR spectra. The classical idea is that the electrons oscillate as the nuclei move in a vibration, this oscillating charge can interact with electromagnetic radiation of the correct energy and cause a transition from a lower energy level to a higher one.
Molecules such as benzene vibrate in many ($3N-6$) normal modes, some such as asymmetric stretches produce transient dipoles and have IR transitions. Others do not and so have no transitions. What determines the are called selection rules.
The only secure way is to look at the symmetry of the molecules using a point group table, its very easy when you know how, but a bit daunting at first sight. Have a look at this answer Understanding group theory easily and quickly for more details.
(The molecule you mention belongs to the $\ce{C_{2v}}$ point group, see molecule-viewer.com for a 3D model with symmetry elements.)
