One formula that is frequently used is: friction = mu x Fn, where mu (the Greek letter mu) is the coefficient of friction, and Fn is the normal force - the force that pushes the surfaces together, perpendicular to the surface.
The coefficient of friction depends on the combination of materials; you can look it up in tables for different combinations of materials; or you can determine it experimentally.
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Weigh it, calculate its volume, then calculate density.
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