Is data about an earthquake from two seismographic stations enough information to locate the epicenter?

From Science Explorer Prentice Hall Earth Science:

" Geologists use seismic waves to locate an earthquake's epicenter. Seismic waves travel at different speeds. P waves arrive at a seismograph first, with S waves following close behind. To tell how far the epicenter is from the seismograph, scientists measure the difference between the arrival time of the P waves and S waves. The farther away an earthquake is, the greater the time between arrival of the P waves and the S waves."

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