  An exact class of solutions of the 5D vacuum Einstein field equations (EFEs)
is obtained. The metric coefficients are found to be non-separable functions of
time and the extra coordinate $l$ and the induced metric on $l$ = constant
hypersurfaces has the form of a Friedmann-Robertson-Walker cosmology. The 5D
manifold and 3D and 4D submanifolds are in general curved, which distinguishes
this solution from previous ones in the literature. The singularity structure
of the manifold is explored: some models in the class do not exhibit a big
bang, while other exhibit a big bang and a big crunch. For the models with an
initial singularity, the equation of state of the induced matter evolves from
radiation like at early epochs to Milne-like at late times and the big bang
manifests itself as a singular hypersurface in 5D. The projection of comoving
5D null geodesics onto the 4D submanifold is shown to be compatible with
standard 4D comoving trajectories, while the expansion of 5D null congruences
is shown to be in line with conventional notions of the Hubble expansion.
