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In this letter we investigate some consequences of considering our 4Dobservable universe as locally and isometrically embeded into a 5D spacetime,where gravity is described by a Brans-Dicke theory in vacuum. Once we imposethe embeding conditions we obtain that gravity on the 4D spacetime is governedby the Einstein field equations modified by an extra term that can play therole of a dynamical cosmological constant. Two examples were studied. In thefirst we derive a cosmological model of a universe filled only with acosmological constant. In the second we obtain a cosmological solutiondescribing a universe filled with matter, radiation and a dynamicalcosmological constant, in agree with observational data. Due to the 5Dgeometrical origin for the dynamical cosmological constant we interpret thatthe acceleration in the expansion is explained without the introduction of adark energy component. Moreover, all 4D matter sources are geometricallyinduced in the same manner as it is usually done in the Wesson's induced mattertheory.

$\Lambda(t)$CDM and the present accelerating expansion of the universe from 5D scalar vacuum