When you put a piece of iron on your hand your senses don't tell you much about the mass of the iron, they rather tell you what's the pressure exerted on the hand. As iron is much more dense its mass concentrates on smaller surface, thus the pressure is higher and iron feels heavier. However, if you put the same mass of iron and cotton in a bag with a string attached, and you will pull the string to lift the bag, you will feel they both weight the same - that's because contact surface of the mass with your hand will be identical.
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