Think of heat transfer like shooting a pool ball into a group of other pool balls that all have a slight gap between them. One pool ball bumps into another one, which bumps into another one, and so on and so on. These pool balls are moving very quickly, but there are a bajillion of them, so it takes time to travel from one end to another. The denser the material, the closer the pool balls are to each other, so it takes less time to transfer the energy from one end to another.
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