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Yes. Open the book in a text editor, such as Windows Notepad. It will display as garbage, because it's a binary file of course, but almost at the start of the file there will be an 8 character string which identifies the format. For a Mobipocket book, for example, these say "BOOKMOBI", for eReader it's "PNRdPPrs" (from its original name "Peanut Reader / Peanut Press"), and for PalmDoc "TEXtREAd".
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