解:$(1)$由题意,得$BP = 3\ \mathrm {t}\mathrm {cm}$
∵$BC = 8\ \mathrm {cm},$$CP = BC - BP$
∴$CP=(8 - 3\ \mathrm {t})\mathrm {cm}$
$ (2)$∵$AB = 10\ \mathrm {cm},$$D$为$AB$的中点
∴$BD=\frac 12\ \mathrm {A}B = 5\ \mathrm {cm}$
又点$Q $以$a\mathrm {cm}/s $的速度运动
∴$CQ = at\mathrm {cm}$
由$(1),$得$BP = 3\ \mathrm {t}\mathrm {cm},$$CP=(8 - 3\ \mathrm {t})\mathrm {cm}$
又$∠B$和$∠C$是一组对应角
∴$\triangle BDP≌\triangle CPQ $或$\triangle BDP≌\triangle CQP$
当$\triangle BDP≌\triangle CPQ $时,$BD = CP,$$BP = CQ$
∴$5 = 8 - 3\ \mathrm {t},$解得$t = 1,$$a = 3;$
当$\triangle BDP≌\triangle CQP $时,$BD = CQ,$$BP = CP$
∴$5 = at,$解得$t=\frac 43,$$a=\frac {15}4$
综上,$a$的值为$3$或$\frac {15}4$