In that case, you probably could not use "sail". There isn't an obvious verb to use. "Go boating", perhaps for something fairly leisurely, or "go powerboat racing" might suit the second picture. "Take my boat out" is another option.
You can use "sail" with a motor boat if the context is going somewhere. "I sail to France every weekend" does not necessarily imply a sailing boat, but "sailing" on its own usually does.