 Solution

In cosmic time, all three Friedmann-Lemaître-Robertson-Walker metrics can be writtenwhereThe closed spatial slice is a three-sphere of radius $a(t)$, soThe complete flat and open spatial slices are noncompact and have

For a homogeneous fluid in the Spatially flat FLRW metric, the equations in part (a) reduce to the cosmological perfect-fluid continuity equationwhile homogeneity makes the spatial relativistic Euler equation automatic. The Einstein field equations give the flat Friedmann equation and Friedmann acceleration equation,equivalently $\ddot{a}/a=-4\pi G(\rho +3P)/3$.