%% formulation
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\begin{document}
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\begin{align*}
\min_{u_1(t),t_f} \quad & t_f \\
\text{subject to:} \quad & \begin{bmatrix} x^\prime \\ y^\prime \\ v^\prime \end{bmatrix} = \begin{bmatrix}
t_f v \sin(u_1) \\ t_f v \cos(u_1) \\ t_f g \cos(u_1) \\
\end{bmatrix} \\
& (x,y,v)(0) = (0,0,0) \\
& (x,y)(1) = (x_f,y_f)
\end{align*}
}}
\end{document}

%% solution