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Density
Density of a substance is defined as mass per unit volume of the substance. It is denoted by ρ.
If M be the mass of the substance of volume V, then density of that substance is given by
Relative Density
Relative density of a substance is defined as the ratio of the density of that substance to the density of water at 4⁰ C.
It has no unit and no dimensions. It is a positive scalar quantity.
The density of water at 4⁰ C is maximum and equal to 1000 kg/m³.