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density (usually written Rho) is a ratio of mass by volume (Rho = m/Vol)

Standart international units are Kg/m3 (cubic meters)

1 liter is equivalent to 1dm3 or 1/1000m3 = 0,001 m3
10 liters are then equivalent to 1/100 m3 = 0,01 m3

so density in your case is Rho = 5/0,01 = 500kg/m3

You can as well use other units for exemple in your case density
can also be expressed in kg/L : Rho = 5/10 = 0,5 kg/L

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