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 the 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.