Relativity 110b: Cosmology - FLRW Metric Derivation (3 possible geometries)
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0:00 Introduction
1:10 Cosmological Principle
4:03 Flat universe and scale factor a(t)
6:52 Closed/spherical universe
12:22 Open/hyperbolic universe
17:55 Unifying the 3 metrics
22:58 Reduced-Circumference Polar Coordinates
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