You can look up the density of different materials in a table of densities. But if you want a formula, just use the definition of density as mass / volume. This is also how you would measure the density of a substance of unknown density.
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Use the formula for a cylinder to find out the volume. Then multiply the volume by the density of steel (about 7900 kg/m3 - but it may vary slightly depending on the type of steel).
Mass = Density -------- volume
density x volume
The formula for calculating density is as follows: density = mass/volume. Simply put, if you divide an object's mass by its volume, you will find its density. Density is the mass of an object per unit volume.
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