A circluar hole with radius r is drilled through a sphere of radius R with the separation betweeen the centres being d as shown in the diagram below:
圖片參考:http://i117.photobucket.com/albums/o61/billy_hywung/May09/CrazyQ3.jpg
By considering a double integral, or otherwise, find the volume of the drilled part.
Note: If it can be proved that there's no closed form, answer in approximation form will be acceptable.