Density is defined as mass per unit volume. To determine the density of a liquid, we measure its mass and volume using a measuring cylinder and beam balance. We measure the mass of the empty cylinder and full cylinder to calculate the mass of the liquid, then divide the mass by the volume reading to get density. For a regular solid, we measure length, breadth, height to calculate volume using the formula, and measure mass to then calculate density. An irregular solid's density can be found by either the submersible method using a measuring cylinder, or displacement can method.