The Dark Matter Rap: A Cosmological History for the MTV Generation,
from November, 1992. Written and performed by David Weinberg.
The debut performance took place at the Institute for Advanced Study Tuesday Lunch. Thanks to Paul Schechter for converting one of my ancient cassettes to an mp3.
If you want the lyrics, you can get them here. This version includes some updated text in the final verse.
The lyrics were published (in slightly different, pre-dark energy form) as an Appendix to a conference proceedings available here.
Many of the lyrics are excerpted in Timothy Ferris's popular book The Whole Shebang, and a brief excerpt appears in the feature film Dark Matter.