Density = Mass/Volume so you need to measure the mass of the substance and divide by the volume that it occupies.
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Density of a substance = (mass of a sample of the substance) divided by (volume of the same sample)
If you want to CALCULATE the density of an unknown substance, you need to divide its mass by its volume, so you need to measure both first. If it is a homogeneous (uniform) substance, and you can take away a piece, you can take any sample. Any piece of the substance will have the same density.
density= mass/volume
The shape of an object is not enough to calculate its density. You also need its mass and then Density = Mass/Volume.
The mass of a substance can be derived from its density. Density is equal to mass per volume, so if volume is known, divide volume by density to get mass.