Density is just mass per volume (usually g/mL). Take the specified mass, and then just divide it by the specified volume. For example, if you have 10g of a liquid with volume of 5mL, its density is (10g)/(5mL) = 2g/mL.
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density = mass/volume
You MEASURE mass with a balance. You MEASURE volume (if liquid) with a graduated cylinder. Then take these and divide. density = mass divided by volume.
The shape of an object is not enough to calculate its density. You also need its mass and then Density = Mass/Volume.
Bulk density = dry weight / volume, then by knowing the dry weight and bulk density we can calculate the volume.
Density is found when you divide the mass and the volume.