Consider two sets in $\mathbb R^n$, $A = \{x_1,\ldots,x_k\}$ and $B=\{y_1,\ldots, y_m\}$. Suppose that $co(A) \cap co(B)$ are disjoint, where $co(S)$ denotes the convex hull of $S$.
I am interested in doing the following: Pick some point in $A$, say, $x_1$. I want to know whether I can have a supporting hyperplane passing through $x_1$ that separates $co(A)$ and $co(B)$. It is easy to see geometrically that not every point would allow this. Geometrically, it seems that we can have a supporting hyperplane through some point of $A$ or $B$ separating $co(A)$ and $co(B)$ only if they lie on a face facing each other, whatever that means. I want to understand a technical term for this, if there is any.
For example, in the picture below, $H_1$ and $H_2$ separate the rectangle and the triangle and are supported on two extreme points. But we cannot have a hyperplane supported on the rear two points of $A$ that separates $A$ and $B$. 
Thanks!