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It depends on the size and mass of the rock. For a "normal" rock (as opposed to merely a stone) I suggest a crane with some means for measuring the rock's mass. A number of pulleys, each with a weighing machine should do the trick. Alternatively, you could use a weighbridge, if there is one in the vicinity.

To obtain its volume, you probably need a 3-d laser-profiling device. That should give the most precise measurement of its volume.

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Q: Which set of tools will provide the most precise measurements for calculating the density of an irregulary shaped rock?
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