 Solution

The cosmological principle permits a Friedmann-Lemaître-Robertson-Walker metric. The Friedmann equation, with vanishing cosmological constant, isFor separately conserved pressureless matter, the cosmological continuity equation gives ${\bar{\rho }}_m={\bar{\rho }}_{m0}{a}^{-3}$: its rest energy is conserved while its physical volume grows as $a^3$. Define the present critical density and matter density parameter byEvaluating the Friedmann equation today gives $-k=H_0^2(1-\Omega )>0$. Thus the model has negative spatial curvature of an FLRW universe; the second contribution to $H^2$ represents that spatial curvature of an FLRW universe, rather than another material fluid. Taking the expanding branch givesHere $0<\Omega <1$. At early times, $a\ll \Omega /(1-\Omega )$, matter domination gives $\dot{a}\simeq H_0\sqrt{\Omega }{a}^{-1/2}$, hence, measuring cosmic time from the Big Bang,At late times the $a^{-2}$ term dominates the Friedmann equation. This curvature-dominated universe has $\dot{a}\to H_0\sqrt{1-\Omega }$ and thereforeThe late expansion approaches the coasting Milne model. The early limit belongs to this idealized matter-only model; including radiation in cosmology would alter the sufficiently early evolution.