All the materials do not have the same density. Depending on the nature of the material, the density varies. 
Materials with a higher density are referred to as denser, while those with a lower density are rarer. For example, metal is a denser material with high density, and the air is rarer with low density.
Relationship between the density, mass and volume:
 
We can find the mass and volume of an object with the help of the density formula.
 
Density(D)=Mass(M)Volume(V)Mass(M)=Density(D)×Volume(V)Volume(V)=Mass(M)Density(D)
 
Density of substances at room temperature:
 
The table below shows the nature of different materials with their respective densities.
 
Nature
Material
Density in
\(kg/ m^3\)
Gas
Air
\(≈1.2\)
Liquid
Kerosene
\(800\)
Liquid
Water
\(1,000\)
Liquid
Mercury
\(13,600\)
Solid
Aluminium
\(2700\)
Solid
Iron
\(7,800\)
Solid
Copper
\(8,900\)
Solid
Silver
\(10,500\)
Solid
Gold
\(19,300\)
 
We can find the mass and volume of the materials from these density values.
 
Conversion factors for density:
 
i. Basic conversion:
  • \(1g/cm^3 = 1000kg/m^3\)
  • \(1kg/m^3 = 0.001g/cm^3\)
ii. Other equivalences:
 
Volume conversion - \(1 mL = 1 cm^3\)
  • \(1 g/mL = 1 g/cm^3\)
  • \(1 g/mL = 1000 kg/m^3\)
Litre to millilitre - \(1 L = 1000 mL\)
  • \(1g/1 L = 1g/ 1000 mL\)
  • \(1g/ 1000 mL = 0.001/ g/cm^3\) 
At room temperature, the mass of \(1 mL\) of water is approximately equal to \(1 g\). The measurement of water in volume is \(mL\) and in mass it is \(g\). Therefore,
  • \(10\ mL ≈ 10 g\)
  • \(100\ mL ≈ 100 g\)
If the mass of an gold bar is \(193\ g\) and its volume is \(10\ cm^3\), its density is \(19.3\ g/cm^3\). Thus, gold bar is \(19.3\) times denser than water. Gold is one of the densest common metals, with a density of \(19.3\ g/cm^3\)
 
Relative density:
 
Relative density of substance with respect to water is,
 
Relativedensity =DensityofthesubstanceDensityofwaterat4°C
 
The relative density of a substance is the ratio of the density of the substance to the density of water at the specific temperature (\(4°C\)). Relative density is also known as specific gravity.
 
Water is specifically taken at a temperature of \(4°C\), because its density is maximum \(1\ g/cm^3\) at this temperature. It is a dimensionless quantity, hence it has no unit
 
Determination of density:
 
The density of an object can be determined by measuring its mass and volume. 
Mass is defined as the measure of the amount of the matter present in any object or substance. The SI unit of mass is kilogram \(kg\)
Usually, for measuring mass, the units of a \(kilogram\) are preferred over the \(gram\) units. Heavyweights are measured in \(tonne\) or \(metric\ tonne\).
 
\(1\) \(gram\) \(g\) \(= 1000\) \(milligram\) \(mg\)
\(1\) \(kilogram\) \(kg\) \(= 1000\) \(gram\) \(g\)
\(1\) \(tonne\) \(= 1000\) \(kilogram\) \(kg\)
 
5f8be43a4cff5953fd713aa2eb5a425af5ad1ac8 weight.jpg
Weight scale
 
In contrast, weight is the gravitational force experienced by the mass of an object. The SI unit of weight is Newton (\(N\)). The mass of an object is a constant value and does not vary by any change in gravity or place. Whereas the value of weight changes depending on the gravitational pull or location.
 
The instrument used to measure the mass of an object is known as a balance. Mass is measured using different instruments such as a weight scale, a balance scale, a spring balance, and an electronic balance.
 
scales1472191280.png
Balance scale
Activity: To measure the mass with digital balance
 
Step 1: Switch on the digital weighing balance.
Step 2: Observe the initial reading, the balance should display zero as the initial value
Step 3: If the reading is not zero, press the the tare button to reset it to zero.
 
Notated_Analytical_Balance digi.jpg
Digital balance
 
Step 4: Place a dry, clean watch glass, and press tare button to reset it to zero. This process ignores the mass of the watch glass.
 
05_6d5d5a40-ea96-4ab5-b1f5-1ef84e60ea36 tare.jpg
Tare after placing a watch glass
 
Step 5: Now place a solid object an iron nail and note the reading, which gives the mass of the iron nail.
Mass of the liquid is measured by replacing the watch glass with a beaker, and pouring the desired liquid into the beaker. Then note the reading to get the mass of the liquid.
Reference:
https://upload.wikimedia.org/wikipedia/commons/c/c0/Notated_Analytical_Balance.jpg
https://www.stninstruments.com/products/analytical-balance-60g-0-1mg-non-sc