The Standard Dust Models (Λ=0)
Distance Measures as a function of redshift
Then to find the proper distance D, recall from chapter 5 that D = R
sin(r/R) where script R is given by eq. 7-19.  For an exercise you
could derive the general expression:
Notice what happens for an empty universe.  Deriving this was a
closed book exam question I had in grad school (prof assumed we
had the curiosity to check this for ourselves).