you can find the mass of an object using a triple beam balance or digital scale. you can find volume of a regularly shaped object by measuring it and using a formula to find the number of cubic units, or you can use the displacement method, in which you fill a container to the brim with water, place the object in, capture all the water, and measure it. since 1 ml is equal to 1 cubic centimeter, it isn't hard to convert to solid volume.
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Determine its mass on a balance. Determine its volume using water displacement. Divide the mass by the volume.
Determine its mass on a balance. Determine its volume using water displacement. Divide the mass by the volume.
Percent of an objects mass is expressed in terms of its weight. Percent of an objects volume is expressed in terms of its size.
The volume of liquid displaced has the same mass as the floating object.
Multiply them: density*volume = mass