If its regular (geometric shaped) you could just measure it with a ruler using the formula for the shape in question. Irregular shaped objects can be submerged in water. The difference in the water level before and after submersion equals the volume of the object.
length X width X height
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You fill up water ina beaker, measure the volume of the water as it originally was, then drop in an irregulary-shaped object, measure that volume, and subtrect the two. The difference is the volume of the object.
No volume is how much space an object takes up. Mass is the measure of the amount of matter in an object.
If the object is irregular the best way is to measure the volume of water it displaces when you immerse it completely in water.
You cannot. A circle is a 2-dimensional object which has an area but no thickness and, therefore, no volume. A litre is a measure of volume. You cannot measure an object with no volume using units that are intended for volume.
An object's mass divided by its volume gives you a measure of the object's density.