Density refers to how much mass is packed into a given volume. It is the measure of how compact or crowded the particles in a substance are.
The upward force exerted on an object submerged in a fluid, which depends on the density of both the object and the fluid.
Specific Gravity: The ratio of the density of a substance to the density of water at a specific temperature.
Mass: The amount of matter an object contains, measured in kilograms (kg).