 Solution

Introduce the positive dimensionless quantity $x=(1-\Omega )a/\Omega$ and the time scale $A=\Omega /[H_0(1-\Omega {)}^{3/2}]$. The Friedmann equation gives the separable relationFor $x=(\cosh \theta -1)/2={\sinh }^2(\theta /2)$, $\theta \ge 0$, the hyperbolic function identities giveChoose the constant of integration so that $t=0$ at $a=0$. The resulting parametric equation for the open matter-dominated Friedmann solution isFor $\theta \ll 1$, the Taylor series giveEliminating $\theta$ yields $a^{3/2}\simeq (3/2)H_0\sqrt{\Omega }t$, exactly the early matter-dominated universe result. For $\theta \gg 1$, $\sinh \theta \sim \cosh \theta \sim e^{\theta }/2$, whereas $\theta /e^{\theta }\to 0$. The ratio of the two parametric expressions tends to $a/t=H_0\sqrt{1-\Omega }$, recovering the curvature-dominated universe result including its coefficient.