Wow, this is an interesting problem.
I can just think of one possible way if its difficult to measure density / volume. However i suspect the shaft SHOULD have its data sheet somewhere in the office (which gives all the important details like weight).
Anyway, here is a try from my side, (correct anything if its wrong):
I will be assuming the following data:
1. your "Shaft" is a cylinder.
2. Your shaft is connected to a motor which can rotate it.
3. You have all the motor specifications like RPM, Power (kW) etc.
We will use this formula to get the weight:
For cylinder rotating along length..I (Moment of Inertia) is:

So
Mass(kg) = ( I
z * 2 ) / r
2
How to find I (Moment of Inertia) ?:
torque =
Iz x Alpha (Angular Acceleration in rad/s)
Iz= Torque in N.m / Angular Acceleration in rad/s
2
How to find torque and Angular Acceleration?:
Torque-N.m = (60,000 * Power in kWh) / ( 2 * pi * RPM motor rotation speed )
Get power from Motor datasheet, or it will be printed on the motor in kW! Run the motor at constant speed to get RPM from a hand-held tachometer (Use same speed for other calculations).
For Angular Acceleration:
use this formula: final A.velocity in rad/s = Initial A.velocity in rad/s + Angular Acceleration * time in seconds.
to use this, start the machine (Initial A.vel = 0) and calculate the time it takes to reach a constant final A.vel in RMP. Convert this final Angular Velocity to RPM by dividing the rad/s with 2pi. Then substitute in above formula to get
Angular Acceleration in rad/s
2.
Do the above and (hopefully) you will get the shaft mass.