Note that, I have tried the aligning tool by selecting the spherical surface as well as the cylindrical surface, but the tool is unable to align these bodies and prompt the following massage "spherical surfaces can only be align to another spherical surface”.
Spherical Center Point can’t be selected when using the Translation tool.
The alternative solution will not solve the problem. The sphere is still allowed to move freely, while I actually want to lock it into the cylindrical axis. So that when previewed, I can let the sphere roll on the cylindrical surface.