You divide its mass by its volume.
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Volume x Density . . . yes
You measure its length, breath, height and mass. Then Density = Mass/(Length*Breadth*Mass) in the appropriate units.
Volume of a Rectangular Prism The volume of a rectangular prism can be found by the formula: volume=length*width*height
Just knowing the volume in centimeters cubed of a rectangular prism would not allow you to find the dimensions.
The base of a rectangular prism is a rectangle. The area of a rectangle is length times width.