I think p_1p_2 is the dot-product of the two 4-momenta.
...in terms of components: E_1 E_2 - \vec p_1 \cdot \vec p_2, where the spatial dot-product is used.
...in terms of rapidities ["angles" in spacetime]: m_1 m_2 \cosh(\theta_1-\theta_2) = m_1 m_2 \gamma_{12}, where \gamma_{12}=\frac{1}{\sqrt{1-v_{12}^2}} is in terms of v_{12}=\tanh(\theta_1-\theta_2), the velocity of object-1 according to object-2, what I would call the "relative velocity" (see below).
So, the quantity under the radical sign on the right-hand side ( ((p_1p_2)^2 - m_1^2m_2^2)^{1/2} ) is non-negative, even for small velocities.However, I think the formula in Mandl is incorrect for another reason.
(2nd ed)
http://books.google.com/books?id=Ef4zDW1V2LkC&pg=PA129#v=onepage&q&f=false (p. 129, eq 8.9)
(1st ed) http://archive.org/details/IntroductionToQuantumFieldTheory (p. 185, eq 23)
The (proposed) equation in Mandl [for spatially-parallel 3-momenta according to us... i.e. the 4-momenta of the two particles and us are coplanar in spacetime]
E_1 E_2 v_{rel} \stackrel{?}{=} ((p_1p_2)^2 - m_1^2m_2^2)^{1/2}
translates into rapidities as <br />
\begin{align}<br />
(m_1\cosh\theta_1) (m_2\cosh\theta_2) <br />
v_{rel}<br />
&\stackrel{?}{=} ((m_1m_2\cosh(\theta_1-\theta_2))^2 - m_1^2m_2^2)^{1/2}<br />
\\<br />
\cosh\theta_1 \cosh\theta_2 <br />
v_{rel}<br />
&\stackrel{?}{=} ((\cosh(\theta_1-\theta_2))^2 - 1)^{1/2}<br />
\\<br />
\cosh\theta_1 \cosh\theta_2 <br />
v_{rel}<br />
&\stackrel{?}{=} \sinh(\theta_1-\theta_2)<br />
\\<br />
v_{rel}<br />
&\stackrel{?}{=} \frac{\sinh(\theta_1-\theta_2)}{\cosh\theta_1 \cosh\theta_2 }<br />
\end{align}<br />
However, I would have expected
<br />
v_{rel} \stackrel{expected}{=} \tanh(\theta_1-\theta_2) <br />
= \frac{\sinh(\theta_1-\theta_2)}{\cosh(\theta_1-\theta_2)}<br />
= \frac{\sinh(\theta_1-\theta_2)}{\cosh\theta_1\cosh\theta_2 - \sinh\theta_1\sinh\theta_2}<br />
so that Mandl's formula should probably read
<br />
\begin{align}<br />
(E_1 E_2 - \vec p_1 \cdot \vec p_2)v_{rel} <br />
\stackrel{expected}{=} ((p_1p_2)^2 - m_1^2m_2^2)^{1/2}<br />
\\<br />
(p_1 p_2)v_{rel} <br />
\stackrel{expected}{=} ((p_1p_2)^2 - m_1^2m_2^2)^{1/2}<br />
\end{align}<br /> in its simplest form.
The further clue that something is wrong with Mandl's formula is that
eq. 8.10a on p. 129, 2ed and eq. 24 on p. 185, 1ed
appears to describe "relative velocity" in the Galilean way as the difference of two velocities.
If there are special cases or approximations being taken, they are not obvious to me.
Did I make a mistake somewhere? in interpretation?