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Does the type of liquid in a container affect the sound it produces?

example like milk, water and coffee produce a minute different sound

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The denser the liquid, the easier the sound will be able to travel through it, making it louder than if the liquid were less dense. Whole cow milk has a density of about 1.03, water 1.00, and coffee is most likely in-between water and milk. This means that if a sound of the same amplitude (loudness) is played through each, you will hear them with in this decreasing order of amplitude: milk, coffee, and then water, which is the quietest.

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