Gauge-invariant perturbations of Schwarzschild black holes in horizon-penetrating coordinates

We derive a geometrical version of the Regge-Wheeler and Zerilli equations, which allows us to study gravitational perturbations on an arbitrary spherically symmetric slicing of a Schwarzschild black hole. We explain how to obtain the gauge-invariant part of the metric perturbations from the amplitudes obeying our generalized Regge-Wheeler and Zerilli equations, and vice-versa. We also give a general expression for the radiated energy at infinity, and establish a relation between our geometrical equations and the Teukolsky formalism. The results presented in this paper are expected to be useful for the close-limit approximation to black hole collisions, for the Cauchy perturbative matching problem, and for the study of isolated horizons.