If you look into history of weighing scales ,you can see they are dated back from our ancient days 2000 b.c ,
and they were used to weigh or compare items.
Balances shown in Egyptian paintings:
As there were no formulas or scanning devices which are available today to weigh even nano particles.
Spring scales came into wide usage in the United Kingdom after 1840 when R. W. Winfield developed the candlestick scale for weighing letters and packages
In modern age, you can find mass using several laws or formulae like:
Mass = Volume * Density
Mass = Force / acceleration