For solid objects with regular shapes, the mass can be measured using a beam balance, and the volume can be calculated using geometrical formulas:
Rectangular block:
V=l×w×h⇒ρ=lwhm
Cylinder:
V=πr2h⇒ρ=πr2hm
Sphere:
V=34πr3⇒ρ=4πr33m
Cube:
V=l3⇒ρ=l3m
Example
A block has a mass of 150 g and dimensions of 3 cm × 4 cm × 5 cm.
Volume:
V=3×4×5=60cm3
Density:
ρ=60cm3150g=2.5g/cm3=2500kg/m3
This matches the density of glass, so the block is made of glass.