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Milk is a white liquid nutrient-rich food produced by the mammary glands of mammals. It is the primary source of nutrition as it contains carbohydrate (lactose), fats, proteins, minerals, vitamins, and water. Fresh milk is sweet in taste.
It is an emulsion or colloid of butterfat globules within a water-based fluid that contains dissolved carbohydrates and protein aggregates with minerals.
The pH of milk ranges from 6.4 to 6.8 and it changes over time. When kept at a temperature of 35oC or above, it becomes sour due to bacterial decomposition. These bacteria convert lactose C12H22O11 to lactic acid CH3-CH(OH)-CHCOOH which is sour in taste. These acids break the emulsifying agent and the casein gets precipitated. Lactobacillus increases the acidity of the milk and converts it to curd at 36oC or above.
Soy milk or soymilk is a plant-based drink produced by soaking and grinding soybeans, boiling the mixture, and filtering out remaining particulates. It is a stable emulsion of oil, water, and protein. Soy milk is now often used as a substitute for dairy milk by individuals who are vegan or lactose intolerant.

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