Take an amount of the substance and find its mass. The density is the mass divided by the volume.
Typical units would be kg / m3 or g/L. English units are usually in weight per unit volume such as pounds/cubic foot or ounces / gallon.
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It's not exactly a "substance" but Density = Mass / Volume
Density is the ratio of the mass of a substance to the volume of the substance.
The relative density of a substance is the ratio of its density to the density of some standard substance. The standard substance for solids and liquids is water. Thus for solids or liquids: Relative density = denisty of substance (kg/m3) / density of water (kg/m3) Relative density therefore has no units, it is a number, and indicates only how many times more dense the substance is than water. The relative density of water is 1 or 1000 kg/m3.
The density is measured by dividing the mass of the substance with it's volume. Density = Mass/Volume.
Density of a substance = (mass of a sample of the substance) divided by (volume of the same sample)