PART C: GEOMETRY OF SPHERICAL COORDINATES

Triple Integration in 3D Space

Lecture Notes Series

Abstract
This module generalizes polar coordinates to three dimensions. We introduce Spherical
Coordinates, the natural system for problems possessing point symmetry. We derive the
volume element through both geometric intuition and the formal Jacobian determinant,
and we establish the framework for triple integration over spheres, cones, and ball segments.

Contents
1 Geometry of Spherical Coordinates 1
1.1 Definition of Spherical Coordinates (ρ, θ, ϕ) . . . . . . . . . . . . . . . . . . . . . 1
1.2 Visualizing the Grid . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

2 Coordinate Transformations 2
2.1 Conversion Formulas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
2.2 Inverse Transformations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

3 Spherical Surfaces and Solids 2

4 Jacobian of Spherical Transformation 3

4.1 Derivation of the Determinant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

5 Volume Element in Spherical Coordinates 3

5.1 Geometric Derivation (Infinitesimal Box) . . . . . . . . . . . . . . . . . . . . . . 3
5.2 Physical Intuition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

6 Triple Integration in Spherical Coordinates 3

6.1 General Formula . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
6.2 Ordering of Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

7 Applications of Spherical Integration 4

7.1 Volume Calculation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
7.2 Mass and Density . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
7.3 Physics: Moment of Inertia . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

1 Geometry of Spherical Coordinates

1.1 Definition of Spherical Coordinates (ρ, θ, ϕ)
While Cylindrical coordinates are effectively ”Polar + z”, Spherical coordinates represent a
fundamental shift. A point P (x, y, z) is defined by:

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Advanced Calculus Module: Spherical Coordinates

Definition 1 (Spherical Triad). • ρ (Rho): The distance from the origin to P . (ρ ≥ 0).
• θ (Theta): The azimuthal angle in the xy-plane (same as in cylindrical/polar). (0 ≤ θ ≤
2π).
• ϕ (Phi): The angle declination from the positive z-axis. (0 ≤ ϕ ≤ π).
Professor’s Note. Warning on Notation: In mathematics (and this course), ϕ is the angle
from the z-axis. In physics/engineering, θ and ϕ are often swapped. Always check the domain:
the angle ranging [0, π] is the one measured from the vertical axis.

1.2 Visualizing the Grid

• ρ = c: Concentric Spheres (like layers of an onion).
• θ = c: Vertical Half-Planes radiating from the z-axis (like a door on a hinge).
• ϕ = c: Cones opening upward (if c < π/2) or downward (if c > π/2). The special case
ϕ = π/2 is the xy-plane.

2 Coordinate Transformations
2.1 Conversion Formulas
By projecting P onto the z-axis (z = ρ cos ϕ) and the xy-plane (r = ρ sin ϕ), we derive:

Spherical to Cartesian

x = ρ sin ϕ cos θ
y = ρ sin ϕ sin θ
z = ρ cos ϕ

2.2 Inverse Transformations

To recover spherical coordinates from (x, y, z):
p
ρ = x2 + y 2 + z 2
y
tan θ = (use atan2 for correct quadrant)
x
!
z
ϕ = arccos p
x2 + y 2 + z 2

3 Spherical Surfaces and Solids

Understanding the equation of boundaries is prerequisite to integration.
• Spheres: x2 + y 2 + z 2 = a2 =⇒ ρ = a.
• Cones: z = x2 + y 2 corresponds to a cone with a 45◦ slope. In spherical:
p

π
ρ cos ϕ = ρ sin ϕ =⇒ tan ϕ = 1 =⇒ ϕ = .
4
• Spherical Caps: The region inside ρ = a but above z = h is defined by 0 ≤ ρ ≤ a and
0 ≤ ϕ ≤ arccos(h/a).

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Advanced Calculus Module: Spherical Coordinates

4 Jacobian of Spherical Transformation

∂(x,y,z)
We formally derive the volume distortion factor using the Jacobian matrix J = ∂(ρ,ϕ,θ) .

4.1 Derivation of the Determinant

∂x ∂x ∂x
∂ρ ∂ϕ ∂θ sin ϕ cos θ ρ cos ϕ cos θ −ρ sin ϕ sin θ
∂y ∂y ∂y
J= ∂ρ ∂ϕ ∂θ = sin ϕ sin θ ρ cos ϕ sin θ ρ sin ϕ cos θ
∂z ∂z ∂z cos ϕ −ρ sin ϕ 0
∂ρ ∂ϕ ∂θ

Expanding along the third row (computation omitted for brevity, but a standard exercise):

J = cos ϕ(. . . ) − (−ρ sin ϕ)(. . . ) + 0 = · · · = ρ2 sin ϕ

The Spherical Jacobian

|J| = ρ2 sin ϕ

5 Volume Element in Spherical Coordinates

5.1 Geometric Derivation (Infinitesimal Box)
Instead of the determinant, visualize a ”spherical brick” with dimensions dρ, dϕ, and dθ: 1.
Height: Moving along the ray changes length by dρ. 2. Meridional Arc: Moving down an
angle dϕ along a longitude line gives arc length ρ dϕ. 3. Latitudinal Arc: Moving an angle
dθ around the z-axis. The radius of this rotation is not ρ, but r = ρ sin ϕ. Thus, arc length is
ρ sin ϕ dθ.
Multiplying these orthogonal lengths:

dV = (dρ) · (ρ dϕ) · (ρ sin ϕ dθ) = ρ2 sin ϕ dρ dϕ dθ

5.2 Physical Intuition

Why sin ϕ?

• Near the equator (ϕ = π/2), sin ϕ = 1. The longitude lines are far apart.

• Near the poles (ϕ = 0 or π), sin ϕ ≈ 0. The longitude lines converge to a point. The
volume element must vanish at the poles to avoid over-counting.

6 Triple Integration in Spherical Coordinates

6.1 General Formula
ZZZ Z β Z b Z g2 (ϕ,θ)
f (x, y, z) dV = f (. . . ) ρ2 sin ϕ dρ dϕ dθ (1)
E θ=α ϕ=a ρ=g1 (ϕ,θ)

6.2 Ordering of Limits

Standard Order: dρ dϕ dθ.

1. Scan Radially (ρ): Fix direction (ϕ, θ), shoot a ray from origin. Enters at ρin , leaves at
ρout .

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Advanced Calculus Module: Spherical Coordinates

2. Scan Phi (ϕ): Determine the vertical spread of the cone/region. Minimum is usually 0
(North Pole), maximum π (South Pole).

3. Scan Theta (θ): Rotation around z-axis (0 to 2π).

7 Applications of Spherical Integration

7.1 Volume Calculation
Volume of a sphere of radius R:
Z 2π Z π Z R
V = ρ2 sin ϕ dρ dϕ dθ
0 0 0
Z 2π  Z π  Z R 
= dθ sin ϕ dϕ ρ2 dρ
0 0 0

R3 R3 4
= (2π) · [− cos ϕ]π0 · [ ] = (2π)(2)( ) = πR3 .
3 3 3

7.2 Mass and Density

If density δ depends only on distance from origin (δ = kρ), spherical coordinates are ideal.
ZZZ
M= kρ · ρ2 sin ϕ dV
V

7.3 Physics: Moment of Inertia

Moment of Inertia of a solid sphere about the z-axis (Iz ). The distance from the axis is r =
ρ sin ϕ. ZZZ ZZZ
2 2
Iz = (x + y )δ dV = (ρ sin ϕ)2 δ(ρ2 sin ϕ) dρ dϕ dθ
V V

Tutorial Set: Practice Exercises

Exercise 1 (The Ice Cream Cone). Find the volume of the solid that lies above the cone ϕ = π/3
and below the sphere ρ = 4 cos ϕ.
(Hint: Note that the sphere ρ = 4 cos ϕ is not centered at the origin, but is tangent to the
xy-plane at the origin).

Exercise 2 (Mass of a Planet). A planet of radius R has a density that increases toward the
core: δ(ρ) = A − Bρ (where A, B are constants). Calculate the total mass.

Exercise 3 (Converting Integrals). Convert the following Cartesian integral into spherical co-
ordinates and evaluate it:
Z Z √
2 Z √4−x2 8−x2 −y 2
√ √ (x2 + y 2 + z 2 )3/2 dz dy dx
−2 − 4−x2 x2 +y 2
p p
the region. Lower bound z = x2 + y 2 is a cone. Upper bound z = 8 − x2 − y 2
Step 1: Identify √
is a sphere ρ = 8.
−(x2 +y 2 +z 2 )3/2 dV .
RRR
Exercise 4 (Gaussian in 3D). Evaluate R3 e
(Note: The power is 3/2, which simplifies beautifully with the ρ2 Jacobian).