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You can download the Google Toolbar or get Google Chrome and get the Chrome SEO Add-On, both of which have excellent tools for determining a site's rank and what terms they're after.  Google Ad Planner also has some features in this regard.  Good luck!

Kevin, I know this has already been answered but I thought I put it my 2cents. Check this out by Rand http://www.seomoz.org/blog/perfecting-keyword-targeting-on-page-optimization Very helpful post. Good luck. Aman