Show that the arc length L of a curve whose spherical coordinates are ρ = ρ(t), θ = θ(t) and φ = φ(t)

for t in an interval [a, b] is

b
L=∫‖f ' ( t )‖ ⅆt
a

f =( x ( t ) , y ( t ) , z ( t ) )

f ' =(x ' ( t ) , y ' ( t ) , z ' ( t ))

x ' (t )= ρ' (t) s e n φ ( t ) cosθ ( t ) + ρ ( t ) φ ' ( t ) cosφ (t ) cosθ ( t )−ρ ( t ) θ' ( t ) senφ (t ) cosθ( t)

y ' ( t )= ρ' (t) s e n φ ( t ) sen θ (t ) + ρ ( t ) φ ' ( t ) cosφ ( t ) sen θ ( t )+ ρ (t ) θ' ( t ) senφ ( t ) senθ( t)

z ' ( t )=ρ' ( t ) cosφ−ρφ '(t) senφ

x' ¿

x' ¿

y'¿

z' ¿