What is the mathematical relation between density and concentration? Could you please explain in detail?
None. I mean - there are fitted curves that describe the relation, but as far as I know they don't have practical importance.
I think solutions with different concentrations have different density values. Now you can plot a relation and construct tables. But this is only usefull when your have the data with us. And each solution has its own table. Am I right?
Yes, that's why I was all the time referring to the density tables.
Note that measuring density of the solution is the easiest and fastest way of checking its concentration. Density measurement can be done fast with hydrometer. It is so often used some hydrometers are scaled not in g/mL (or Baume degrees or whatever) but in sulfuric acid mass % (or sucrose mass % in sugar and winemaking industries).
So, while you need tables, question that asks about molarity and molality of nitric acid of given density HAS unique and easy to find answer.