Solution
= Solution
At a fixed cosmological time, homogeneous expansion has $\mathbf v=H(t)\mathbf r$. A comoving galaxy has $\mathbf r=R(t)\mathbf x$ with constant $\mathbf x$, hence $\mathbf v=\dot R\mathbf x=(\dot R/R)\mathbf r$. Thus $\boxed{H=\dot R/R}$. Peculiar velocities must be removed before applying this ideal relation to individual galaxies.