The spherical coordinates of a point M(x,y,z) are defined to be the three numbers: , , , where is the length of the radius

us vector to the point M; is the angle between the projection of the radius vector is the angle of deviation of the radius vector on the xy-plane and the x-axis;

from the positive direction of the z-axis (Figure 1).

Fig.1

It's important to take into account that the definition of differs in spherical and cylindrical coordinates. The spherical coordinates of a point are related to its Cartesian coordinates as follows:

The Jacobian of transformation from Cartesian to cylindrical coordinates is written as

By expanding the determinant along the second column, we get

Accordingly, the absolute value of the Jacobian is

Hence, the formula of change of variables for this transformation is

It is easier to calculate triple integrals in spherical coordinates when the region of integration U is a ball (or some portion of it) and/or when the integrand is a kind of f (x2 + y2 + z2). It is sometimes more convenient to use so-called generalized spherical coordinates, related to the Cartesian coordinates by the formulas

In this case the Jacobian is

Example 1

Evaluate the integral equationx2 + y2 + z2 = 25.

Solution.

, where the region of integration U is the ball given by the

As the region U is a ball and the integrand is expressed by a function depending on f (x2 + y2 + z2), we can convert the triple integral to spherical coordinates. Make the substitution:

The new variables range within the limits: Taking into account the Jacobian 2sin , we can write the integral as follows:

Example 2

Calculate the integral

where the region U is the unit ball x2 + y2 + z2 1.

Solution.

This ball is centered at the origin. Hence, the region of integration U in spherical coordinates is described by the inequalities

Writing the integral in spherical coordinates, we have

As can be seen, the triple integral is transformed into the product of three single-valued integrals, each of which can be calculated independently. As a result, we obtain

Example 3

Evaluate the integral xyzdxdydz, where the region U is a portion of the ball x2 + y2 + z2 R2 lying in the first octantx 0, y 0, z 0.
Solution.

We convert the integral to spherical coordinates. Change the variables:

The new variables range within the limits:

Then the integral in spherical coordinates becomes

Example 4

Find the triple integral

where the region U is bounded by the ellipsoid

Solution.

To calculate the integral we use generalized spherical coordinates by making the following change of variables:

The absolute value of the Jacobian of the transformation is |I| = abc2sin . Therefore, the following relation is valid forthe differentials:

The integral in the new coordinates becomes

The region of integration U' (being an ellipsoid) in the new coordinates is defined by the inequalities

Then the triple integral can be written as

Example 5

Evaluate the integral

using spherical coordinates.

Solution.

The region of integration is a portion of the ball lying in the first octant (Figures 2,3) and, hence, it is bounded bythe inequalities

Fig.2

Fig.3

Taking into account that the integrand is

and the differential is expressed by the formula

we have