Old red blood cells get broken down by white blood cells. One of the products of this breakdown is the chemical heme, which in turn is broken down, one of the products of which is urobilin. Urobilin is yellow and is eliminated by the body through urine, making it yellow.
When you’re dehydrated, your body is still eliminating waste products through urine, but there’s less water in the urine, making it more concentrated and darker coloured.
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