Determine its mass using a balance and determine its volume using water displacement. Then divide the mass by the volume to get density.
Refer to the related link below for more detail.
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Partition (or divide) the irregular object into summation of regular objects and then calculate the volume.
The shape of an object is not enough to calculate its density. You also need its mass and then Density = Mass/Volume.
Object's density = (its mass) divided by (its volume)
You have to multiply the density by the volume to get the mass of the object.
Water Displacement Method?