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The millilitre (ml or mL, also spelled milliliter) is a metric unit of volume that is equal to one thousandth of a litre. It is a non-SI unit accepted for use with the International Systems of Units (SI). It is exactly equivalent to 1 cubic centimetre (cm³, or, non-standard, cc).
The SI prefix "milli" represents a factor of 10-3, or in exponential notation, 1E-3.
So 1 milligram = 10-3 grams-force.
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