In this paper we present four simple expressions for the relativistic first and second order fractional density perturbations for $Lambda$CDM cosmologies in different gauges: the Poisson, uniform curvature, total matter and synchronous gauges. A distinctive feature of our approach is the use of a canonical set of quadratic differential expressions involving an arbitrary spatial function, the so-called comoving curvature perturbation, to describe the spatial dependence, which enables us to unify, simplify and extend previous seemingly disparate results. The simple structure of the expressions makes the evolution of the density perturbations completely transparent and clearly displays the effect of the cosmological constant on the dynamics, namely that it stabilizes the perturbations. We expect that the results will be useful in applications, for example, studying the effects of primordial non-Gaussianity on the large scale structure of the universe.
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