dH = 21t with displacement of the horse, dH, in meters and the time, t, in seconds.
dC = (1/2)*9*(t-1)2 where the displacement of the cheetah, dC, in meters is calculated for constant acceleration, but starting after 1 second of delay.
The problem becomes a matter of equating dH and dC at the critical time, t*. Once you have the time when they have moved the same d, you can input into either equation in order to find the displacement. Equating the displacements will lead to a quadratic equation in t. Use quadratic formula.
Good Luck!