[guided]The map $Y\mapsto Y^\top Y$ forgets the orthogonal orientation of the columns of $Y$ and remembers only their Gram matrix. The correct analogue of polar coordinates is therefore not a radius and a direction, but a positive definite matrix $A=Y^\top Y$ and an orthonormal $p$-frame $Q$ describing the orientation.
Let
\begin{align*}
\mathbb{V}_{p}(\mathbb{R}^n):=\{Q\in\mathbb{R}^{n\times p}:Q^\top Q=I_p\}
\end{align*}
be the Stiefel manifold, and let $\nu_{n,p}$ denote its invariant Hausdorff measure. The Gram polar integration formula says that for every non-negative Borel map
\begin{align*}
\Phi:\mathbb{R}^{n\times p}\to[0,\infty),
\end{align*}
we have
\begin{align*}
\int_{\mathbb{R}^{n\times p}}\Phi(Y)\,d\mathcal{L}^{np}(Y)
=
c_{n,p}
\int_{\mathbb{S}_{++}^p}
\int_{\mathbb{V}_p(\mathbb{R}^n)}
\Phi(QA^{1/2})(\det A)^{(n-p-1)/2}
\,d\nu_{n,p}(Q)\,d\mathcal{L}^{p(p+1)/2}(A).
\end{align*}
Here $A^{1/2}$ is the positive definite square root of $A$, and $c_{n,p}>0$ depends only on $n$ and $p$. The determinant exponent is the crucial Jacobian contribution: it is the rectangular-matrix analogue of the radial factor $r^{m-1}$ in Euclidean polar coordinates. This is precisely the [Gram polar integration formula for rectangular matrices](/page/Gram%20Polar%20Integration%20Formula). Its hypotheses are satisfied because $\Phi$ is assumed to be non-negative and Borel, and the spaces carry the Borel structures inherited from their Euclidean embeddings.
We now apply this formula to
\begin{align*}
\Phi(Y):=\varphi(Y^\top Y)g(Y),
\end{align*}
where
\begin{align*}
\varphi:\mathbb{S}_{++}^p\to[0,\infty)
\end{align*}
is an arbitrary non-negative Borel map. Since $(QA^{1/2})^\top(QA^{1/2})=A^{1/2}Q^\top QA^{1/2}=A$, and since
\begin{align*}
\operatorname{tr}\left((QA^{1/2})^\top(QA^{1/2})\right)=\operatorname{tr}(A),
\end{align*}
the density factor becomes independent of $Q$. Therefore
\begin{align*}
\mathbb{E}[\varphi(W)]
&=
\int_{\mathbb{R}^{n\times p}}\varphi(Y^\top Y)g(Y)\,d\mathcal{L}^{np}(Y)\\
&=
c_{n,p}
\int_{\mathbb{S}_{++}^p}
\int_{\mathbb{V}_p(\mathbb{R}^n)}
\varphi(A)(2\pi)^{-np/2}\exp\left(-\frac{1}{2}\operatorname{tr}(A)\right)
(\det A)^{(n-p-1)/2}
\,d\nu_{n,p}(Q)\,d\mathcal{L}^{p(p+1)/2}(A).
\end{align*}
Because the integrand no longer depends on $Q$, the inner integral contributes only the finite Stiefel volume. Define
\begin{align*}
K_{n,p}:=c_{n,p}\nu_{n,p}(\mathbb{V}_p(\mathbb{R}^n))(2\pi)^{-np/2}.
\end{align*}
Then
\begin{align*}
\mathbb{E}[\varphi(W)]
=
K_{n,p}
\int_{\mathbb{S}_{++}^p}
\varphi(A)\exp\left(-\frac{1}{2}\operatorname{tr}(A)\right)(\det A)^{(n-p-1)/2}
\,d\mathcal{L}^{p(p+1)/2}(A).
\end{align*}
This identity identifies the density up to the single normalising constant $K_{n,p}$.[/guided]