You can measure its length, or its volume, or its surface area, or its projected area (in effect the area of its shadow).
mass
Mass is the measure of how much matter or "stuff" an object contains
Use a balance for weighing.
temperature
Mass
Volume is a measure of how much space something takes up. Temperature and pressure affect volume.
mass
drop it in water and measure how much water came up
To measure something long, big or size of a people. By measuring the waist.
With ounces.
to measure stuff
density
Density
You weigh it.
Density
Density
They measure different things. A foot is a linear measure, it measures distance or the length of something. A cubic foot (or any cubic measurement) measures the volume or capacity of a container. How much the 'stuff' the container can hold.
You cannot compare these two items. One is a measure of weight while the other is a measure of size or space. 552 grams is a measure of how much something weighs. Cubic centimeter is a measure of how much space something takes up or the size of something as it is a measure of volume. The two are not compatible. I'm sorry I could not be of more assistance.