The urinary system functions to eliminate waste from the body, regulate water balance and electrolyte levels, and maintain acid-base balance. It includes the kidneys, ureters, urinary bladder, and urethra. The kidneys contain nephrons which filter blood to form urine via filtration, reabsorption, and secretion processes. Urine is transported from the kidneys to the bladder via ureters and stored in the bladder before being emptied through the urethra. The urinary system works with other systems like respiration to precisely regulate water balance, electrolyte levels, and pH in order to maintain homeostasis.