A sphere falling in a fluid may collide with another sphere falling more slowly if, when the spheres are far apart vertically, the horizontal distance between their centers is less than or equal to a critical radius. Accurate prediction of aerosol particle coagulation requires a good understanding of this process. Previously reported optical techniques for measuring hydrodynamic effects on this phenomenon have inherent difficulties detecting grazing collisions and hence in determining the critical radius. In this work, a novel detection technique is demonstrated and it is shown that the critical radius may be determined from the sound generated by the collision of two spheres in a viscous liquid. The technique is shown to provide a more precise and decisive indication of when hard spheres collide.