Density is mass divided by volume or grams per cubic centimeter.
If you take a piece of balsa and screw in a screw eye, you can then do the following:
Get a container that is big enough to hold the sample , enough water to submerge it, and a gram scale big enough to weigh it all.
Because water weighs 1 gram per cc, if you submerge the sample just to the screw eye, you are displacing the amount of water that is equal to the volume of the item. You are also placing exactly one gram of weight on the scale per each cubic centimeter of volume displaced.
When you weigh the container, water, you then record it. Then weigh the container, water, the sample submerged to the screw eye, record. Subtract the 1st from the 2nd and you have the volume of the sample.
Now, remove the screw eye from the sample and let it dry.
Weigh the sample, divide the weight of the sample by the volume of the sample and you have the density of the sample.
It is really easier they it sounds, and I see I need to video this stuff and start a YouTube channel again. If it does not make sense, let me know and I will try to do a quick video of it and create a link.
Two samples of different materials, of the exact same size, will give the exact same volume as expected. But the weights of the samples will differ. The volumes divided by the weights will work every time.
I respect you way way way too much to every tell you that. LOL Not on my wildest day would I do that!