You measure the gravitational force between two objects - this can be done with a Cavendish balance. Then you plug in the numbers (masses, and force) into the universal formula for gravitation.
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Cavendish measured the gravitational constant "G".
The gravitational constant was found by Newton, not Einstein.
g, the force of the Earth's gravitational attraction, is not a constant.
The gravitational constant was derived experimentally. Until recently, it was believed that it was a universal constant. However, developments in cosmological theories suggest the possibility that it is not a constant.
what is dimnsion of gravitational constant