Impedances work hand-in-hand with phasors. For the steady-state solution to circuits, it's really just phasor analysis in a slightly different mathematical guise. It relies on the fact that
$$\epsilon^{j \theta} = cos(\theta) + j\;sin(\theta)$$
The impedances for R, L, and C become: ZR = R, ZL = jωL, and ZC = 1/(jωC). You get the ω from the radial frequency of the applied source (a sinewave in this case). Given numerical values for ω, R, L, and C, then you have simple complex numbers to work with. They are used in the same way as plain old resistance values are manipulated in the circuit formulas for DC circuits.
The source is converted to a phasor value and is then treated (mathematically) as you would a normal voltage or current during circuit analysis. Only the magnitude and phase values are important, and you don't even have to worry about whether the original is a sine or cosine provided that in the end you convert the solution back to sine or cosine respectively using the magnitude and phase of the result. (If there happens to be multiple sources, some sine and others cosines, then you should convert them all to one or the other in order to keep all the relative phases consistent). If A is the source magnitude and θ the given phase angle, then for your voltage source let
$$Vs = A\;(cos(\theta) + j\;sin(\theta))$$
be the phasor version for Vs. Note that this yields a complex number that incorporates magnitude and angle information of the source (i.e., a phasor). You probably won't need to worry about this complex number until the end when you want to generate actual current or voltage phasors from your solution equations.
You can perform all the basic analysis symbolically just as though it were a DC circuit, plugging in the appropriate impedance expressions (R, jωL, and 1/(jωC)) for the circuit components, or just substitute R, ZL, ZC for them for purposes of mathematical manipulation; After initial simplification you can then substitute the complex expressions or the complex numerical values. Then it's just plug and chug the complex arithmetic.
Once you obtain a solution in phasor form you can convert back to time-domain sine or cosine by determining the magnitude and phase of the resulting phasor; Just apply the magnitude and phase values into a sine or cosine expression respectively. No phase shifting to convert from sines to cosines required.