Density
The density at all points of a homogeneous object equals its total mass divided by its total volume. The mass is normally measured with a scale or balance; the volume may be measured directly (from the geometry of the object) or by the displacement of a fluid. To determine the density of a liquid or a gas, a hydrometer, a dasymeter or a Coriolis flow meter may be used, respectively. Similarly, hydrostatic weighing uses the displacement of water due to a submerged object to determine the density of the object.
Relative density
If a substance's relative density is less than one then it is less dense than the reference; if greater than 1 then it is denser than the reference. If the relative density is exactly 1 then the densities are equal; that is, equal volumes of the two substances have the same mass. If the reference material is water then a substance with a relative density (or specific gravity) less than 1 will float in water. For example, an ice cube, with a relative density of about 0.91, will float. A substance with a relative density greater than 1 will sink.