The Friedmann equation (ȧ/a)² = H² = (8πG/3)(ρm + ρr + ρΛ) − kc²/a² governs the expansion of the universe. Dark energy (Λ) with equation of state w=−1 causes accelerating expansion. The scale factor a(t) ∝ t2/3 (matter), ∝ t1/2 (radiation), ∝ eHt (Λ-dominated). Current: ΩΛ≈0.69, Ωm≈0.31.