Regular solids have all sides the same, irregular solids have different sides.
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graduated cylindergraduated cylinderSubmerge your solid in a liquid the liquid volume displaced is equal to your irregular solid volume.
By multipying
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Fill the can with a liquid to the top so it almost overflows. Put the solid in the can and catch the overflowing liquid. Measure the liquid. The measurement of the liquid will give you the volumn of the solid.
You can dip the irregular solid in a water or other suitable liquid. This is how, you can measure the volume of the solid. The mass can be measured by weighing scale. Mass/volume = density. It is easy to measure the mass and volume of the liquid. First measure the mass the container. Then add the liquid to it. You will get the mass of the liquid. Then measure the volume of the liquid. Use the above formula to calculate the density of the liquid.