Density is defined as mass per unit volume and relative density compares the density of a substance to that of water. According to Archimedes' principle, an object will sink if the weight of water displaced is less than the object's weight, and float if the displaced water's weight equals the object's weight. For an object floating freely in water, the upthrust equals the weight of the object. Floatation only occurs when the upthrust equals the weight of the object.