The boats A and B travel with constant speeds of vA = 15 m/s and vB = 10 m/s when they leave the pier at O at the same time. Determine the distance between them when t = 4 s.

Speed of boat
is 
Speed of boat
is 
Velocity of the boat
in Cartesian vector form is expressed as
Velocity of the boat
in Cartesian vector form is expressed as
From the relative velocity equation, we have
Accordingly, we have
Magnitude of velocity is expressed as
Magnitude of velocity is
Distance between the two boats is expressed as
Distance between the two boats is