We derive an effective theory on the orbifold branes of the Randall-Sundrum 1 (RS1) braneworld scenario in the presence of a bulk brane. We concentrate on the regime where the three branes are close and consider a scenario where the bulk brane collides with one of the orbifold branes. This theory allows us to understand the corrections to a low-energy approach due to the presence of higher velocity terms, coming from the Kaluza-Klein modes. We consider the evolution of gravitational waves on a cosmological background and find that, within the large velocity limit, the boundary branes recover a purely four-dimensional behavior.