Liters and milliliters are a measure of volume. If I have a liter of water, that’s the same volume as a liter of molten gold.
Kilograms and grams are measures of mass. Clearly, a liter of gold would have a much higher mass than a liter of water.
Not positive on the reason we use volume versus mass, but I’d imagine it’s for a few reasons. Most liquids are similar in density, so a volume of orange juice is going to be very close in mass to a volume of lemonade. There’s also the fact that volume is easier to measure. I can have a single measuring cup with lines on it instead of needing a scale to measure everything.
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