The evolution of a flat $(k=0)$ homogeneous and isotropic universe with scale factor $a(t)$, mass density $\rho(t)$ and pressure $P(t)$ obeys the Friedmann and energy conservation equations

$$\begin{array}{r} H^{2}(t)=\left(\frac{\dot{a}}{a}\right)^{2}=\frac{8 \pi G}{3} \rho+\frac{\Lambda c^{2}}{3} \\ \dot{\rho}=-3 \frac{\dot{a}}{a}\left(\rho+P / c^{2}\right) \end{array}$$

where $H(t)$ is the Hubble parameter (observed today $t=t_{0}$ with value $H_{0}=H\left(t_{0}\right)$ ) and $\Lambda>0$ is the cosmological constant.

Use these two equations to derive the acceleration equation

$$\frac{\ddot{a}}{a}=-\frac{4 \pi G}{3}\left(\rho+3 P / c^{2}\right)+\frac{\Lambda c^{2}}{3}$$

For pressure-free matter $\left(\rho=\rho_{\mathrm{M}}\right.$ and $\left.P_{\mathrm{M}}=0\right)$, solve the energy conservation equation to show that the Friedmann and acceleration equations can be re-expressed as

$$\begin{gathered} H=H_{0} \sqrt{\frac{\Omega_{\mathrm{M}}}{a^{3}}+\Omega_{\Lambda}} \\ \frac{\ddot{a}}{a}=-\frac{H_{0}^{2}}{2}\left[\frac{\Omega_{\mathrm{M}}}{a^{3}}-2 \Omega_{\Lambda}\right] \end{gathered}$$

where we have taken $a\left(t_{0}\right)=1$ and we have defined the relative densities today $\left(t=t_{0}\right)$ as

$$\Omega_{\mathrm{M}}=\frac{8 \pi G}{3 H_{0}^{2}} \rho_{\mathrm{M}}\left(t_{0}\right) \quad \text { and } \quad \Omega_{\Lambda}=\frac{\Lambda c^{2}}{3 H_{0}^{2}}$$

Solve the Friedmann equation and show that the scale factor can be expressed as

$$a(t)=\left(\frac{\Omega_{\mathrm{M}}}{\Omega_{\Lambda}}\right)^{1 / 3} \sinh ^{2 / 3}\left(\frac{3}{2} \sqrt{\Omega_{\Lambda}} H_{0} t\right)$$

Find an expression for the time $\bar{t}$ at which the matter density $\rho_{\mathrm{M}}$ and the effective density caused by the cosmological constant $\Lambda$ are equal. (You need not evaluate this explicitly.)