We continue our research work started in Bejancu (Eur Phys J C 75:346, 2015), and obtain in a covariant form the equations of motion with respect to the (1+1+3) threading of a 5D universe (M,ḡ). The natural splitting of the tangent bundle ofM leads to the study of three categories of geodesics: spatial geodesics, temporal geodesics, and vertical geodesics. As an application of the general theory, we introduce and study what we call the 5D Robertson-Walker universe.