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• A simple numerical framework is established based on a semi-empirical model. • Dynamic behaviors of rigid projectiles impacting concrete targets are predicted. • Effects of crater formation and the presence of a free surface are considered. • The influences of projectile geometries and impact conditions are investigated. • The critical angle and velocity that enable projectile ricochet are identified. This paper presents a simple and efficient semi-empirical model for predicting the dynamic behaviors of rigid ogive-nosed projectiles after obliquely impacting semi-infinite concrete targets. We consider the normal stress acting on the projectile surface as a result of the target resistance. We also reflect the decrease in normal stress caused by crater formation and the presence of the free surface on the target. The normal stress is formulated as a function of the projectile geometry and the properties of the target material. To verify the proposed semi-empirical model, we establish computational frameworks combining the finite element method and smoothed particle hydrodynamics. These frameworks are confirmed to provide results consistent with the experimental data for the normal impact of projectiles on concrete targets. By comparing the results obtained from the semi-empirical model with the reference results obtained from the computational frameworks, we demonstrate that the semi-empirical model can successfully predict the penetration or ricochet of projectiles following oblique impact. Furthermore, considering the nose sharpness, slenderness, impact velocity, and oblique incidence angle of the projectiles as key parameters, we investigate their effects on the dynamic behaviors of projectiles. The penetration capabilities of projectiles increase with sharper and slenderer geometry, higher impact velocity, and lower incidence angle. In particular, considering various combinations of these parameters, we identify the critical conditions for the incidence angle and impact velocity that lead to the ricochets of projectiles. The minimum incidence angle, at which ricochets occur, increases in proportion to the nose sharpness, slenderness, and impact velocity. The maximum impact velocity, up to which ricochets occur, decreases as the nose sharpness and slenderness increase and the incidence angle decreases. [ABSTRACT FROM AUTHOR]