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Theoretically, the density of steel is7850kg/m^3. But in my practice it will be varying according to the constituents or alloying. For mild steel, it is varying in the range of7200 to7400kg/m^3. So it is better to take an experimental calculation depends upon your supplied material for more accurate results.
The steel density =7850 kg/m3
the density generally used for steel is7840 kg/m3
The Density of steel is490 Pounds/cubic ft