It's not correct to talk about "density" of a soccer ball. It's better you say "average density" of a soccer ball. It's clear that any soccer ball consists of different materials such as leather/plastic, rubber, and air. It order to find the average density you have to find the mass of a soccer ball and divide it by it's volume (in the first approximation you neglect the thickness of the shell (leather and rubber coats)).
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Well, honey, the density of a soccer ball can vary depending on the materials used, but on average, it's around 0.6 grams per cubic centimeter. So, if you're planning on kicking one around, just remember it's not gonna float like a feather, but it won't sink like a rock either. Just aim for the goal and leave the science to the nerds, darling.
From the USGA's website. Appendix III about the Golf ball specifies weight (1.62 oz) and diameter (1.68 in). Using the volume for a sphere (4/3)*pi*R^3 and the published weight you can get a relatively good approximation for the density p = mass/volume of the ball.
The density of a golf ball is about .65 oz. per cubic inch. This is why a golf ball, despite it's size, sinks in water. The density of water is about .56 oz. per cubic inch so anything heavier than that will surly sink.