Here's a few useful equations that demonstrate a flat and accelerating universe-
Friedmann equation-
H^2=\left(\frac{\dot{a}}{a}\right)^2=\frac{8\pi G}{3}\rho-\frac{kc^2}{a^2}+\frac{\Lambda c^2}{3}
Friedmann acceleration equation-
\dot{H}+H^2=\frac{\ddot{a}}{a}=-\frac{4\pi G}{3}\left(\rho+\frac{3P}{c^2}\right)+\frac{\Lambda c^2}{3}
where P is pressure.
Both equations can be rewritten where-
\rho'\Rightarrow \rho_m+\frac{\Lambda c^2}{8\pi G}=(\rho_m+\rho_\Lambda)
P'\Rightarrow P_m-\frac{\Lambda c^4}{8\pi G}=(P_m-P_\Lambda)
where the equation of state for dark energy is w=-1 and for ordinary and dark matter, w=0.
Friedmann equation becomes-
H^2=\frac{8\pi G}{3}\rho'-\frac{kc^2}{a^2}
which reduces to the critical density equation when k=0.
Friedmann acceleration equation becomes-
\dot{H}+H^2=-\frac{4\pi G}{3}\left(\rho'+\frac{3P'}{c^2}\right)
which would normally show that both energy density and pressure would cause a deceleration in the expansion of the universe though the inclusion of the cosmological constant (or dark energy or vacuum energy) means the universe accelerates.
\frac{\dot{H}}{H^2}=-(1+q)
where q is the deceleration parameter-
q=\frac{1}{2\rho_c}\left(\rho'+\frac{3P'}{c^2}\right)=\frac{1}{2}(1+3w)
where w=P'/(\rho'c^2), the equation of state of the universe.
..A value of q greater than 0.5 indicates that the expansion is decelerating quickly enough for the universe eventually to collapse. A value less than 0.5 indicates that the expansion will continue for ever. In models with a cosmological constant, q can even be negative, indicating an accelerated expansion, as in the inflationary universe.
http://en.wikipedia.org/wiki/FLRW#Solutions
http://en.wikipedia.org/wiki/Deceleration_parameter
http://scienceworld.wolfram.com/physics/DecelerationParameter.html
http://www.answers.com/topic/deceleration-parameter