Mass is pretty much how much energy that thing has. When you measure the mass of something, you’re measuring the potential energy it has. Of course, that means mass can include kinetic energy. So, faster objects have (slightly) bigger mass.
Since we know the relationship between mass and other properties (like force and acceleration), we can calculate (=measure) it’s mass.
I’m going to guess that there’s no way to measure the energy something has directly but I might be wrong.
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