A comprehensive analysis of general relativistic spacetimes which admi
t a shear-free, irrotational and geodesic time-like congruence is pres
ented. The equations governing the models for a general energy-momentu
m tensor are written down. Coordinates in which the metric of such spa
cetimes takes on a simplified form are established. The general subcas
es of 'zero anisotropic stress', 'zero heat-flux vector' and 'two-comp
onent fluids' are investigated. In particular, perfect-fluid Friedmann
-Robertson-Walker models and spatially homogeneous models are discusse
d. Models with a variety of physically relevant energy-momentum tensor
s are considered. Anisotropic fluid models and viscous fluid models wi
th heat conduction are examined. Also, models with a perfect fluid plu
s a magnetic field or with pure radiation, and models with two non-col
linear perfect fluids (satisfying a variety of physical conditions) ar
e investigated. In particular, models with a (single) perfect fluid wh
ich is tilting with respect to the shear-free, vorticity-free and acce
leration-free time-like congruence are discussed.