3次元球面座標で変換行列は$$ \arrs{~\sin\theta\, \cos\phi & r\cos\theta\, \cos\phi & -r\sin\theta\, \sin\phi \\\sin\theta\, \sin\phi & r\cos\theta\, \sin\phi & r\sin\theta\, \cos\phi \\\cos\theta & -r\sin\theta & 0 \\}$eq{{{{{{{{{{{{{{{{ \begin{pmatrix} \cos\phi & -\sin\phi & 0 \\ \sin\phi & \cos\phi & 0 \\ 0 & 0 & 1 \\ \end{pmatrix} \begin{pmatrix} \sin\theta & \cos\theta & 0 \\ 0 & 0 & 1 \\ \cos\theta & -\sin\theta & 0 \\ \end{pmatrix} \begin{pmatrix} 1 & 0 & 0 \\ 0 & r & 0 \\ 0 & 0 & r\sin\theta \\ \end{pmatrix} \\ $$$