If Earth's rigid crust floats on hot plastic material of mantle, we can conclude that the earth is less dense and floats.
Earth's crust is able to float on the hot material of the mantle because they are situated on the asthenosphere. The asthenosphere is the upper and the ductile mantle that is able to flow slowly whenever heat is applied.
The lithosphere has a lower density than this asthenosphere so it floats on it.
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