 Solution

Choose a reference epoch with $H_0=\dot{a}(t_0)/a_0\ne 0$ and let $x=a/a_0$. Define the critical density and each cosmological density parameter byFor a closed universe ${\Omega }_{K,0}<0$. Take the dark-energy component to be a cosmological constant, as indicated by its $\Lambda$ label. The constant-equation-of-state density scaling givesSubstitution into the Friedmann equation givesAt the reference epoch, ${\Omega }_{r,0}+{\Omega }_{m,0}+{\Omega }_{s,0}+{\Omega }_{w,0}+{\Omega }_{\Lambda ,0}+{\Omega }_{K,0}=1$. The Friedmann acceleration equation isStrings have ${\rho }_s+3P_s=0$ and make no direct acceleration contribution, although they affect the Friedmann constraint. The normalized density parameters are undefined at a static epoch, where $H_0=0$; the static solution must therefore be described directly with dimensional densities.