Less dense fluids float on more dense fluids if they do not mix. This concept can be extended, with some care, to less dense solids floating on more dense fluids. If the average density (including any air below the waterline) of an object is less than water (1000 kg/m3) it will float in water and if it is more than water's it will sink in water.
The mass density of a material varies with temperature and pressure. (The variance is typically small for solids and liquids and much greater for gasses.) Increasing the pressure on an object decreases the volume of the object and therefore increase its density. Increasing the temperature of a substance (with some exceptions) decreases its density by increasing the volume of that substance. In most materials, heating the bottom of a fluid results in convection of the heat from bottom to top of the fluid due to the decrease of the density of the heated fluid. This causes it to rise relative to more dense unheated material.
We can calculate density using the formula:
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