Water "wets" plastic more than glass, giving a lower reading
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Density = Mass/Volume. For water: 1/(1*1*1) = 1/1 = 1 g/cm3 For plastic: 4/(2*3*1) = 4/6 =2/3 g/cm3. So the water has the greater density.
If you refer to a copper coin, simply place it in a measuring glass of water and work out the difference between the start and final volumes; that is the volume of the coin.
Think of a plastic bag filled with water. It makes more sense to describe the amount of water within the bag by it's volume vice the bag's dimensions.
Measure the length of the edge of the cube and multiply this by itself 3 times.Fill a measuring jug with enough water to cover the cube. Measure the level of water. Immerse the cube in the water in jug and measure the level of the water. The difference in level is the volume of the cube.
The volumes of small irregular solids are usually easily measured by measuring the volume of fluid displaced when they are immersed in a liquid. For example: You would have to put the object in a measuring glass with water in it. (~1/3 filled) Put the object in it and then get the number from the measuring glass (beaker etc. mostly beaker) and that is how you measure a irregular solid!