Hey Peter, here is a brief differentiation:
Page Rank: Quality metric invented by Google’s owners Larry Page and Sergey Brin. The values 0 to 10 determine a page’s importance, reliability and authority on the web according to Google.
Page Authority: Describe the probability that a specific page from your site will be found on a search engine. Page authority is based on a logarithmic scale from 0 to 100 and deals with the relevance of information and links within site pages to one another.
Domain Authority: Measure of the power of a domain name and one of many search engine ranking factors. Domain authority is based on three factors: Age, Popularity, and Size.