In Chapter 8 of F.Mandl's book Quantum field theoryField Theory, during the derivation of the differential cross section-section, the following relation is used: $$E_1E_2v_{rel}=\sqrt{(p_1p_2)^2-m_1^2m_2^2} \,\, ,$$ where $v_{rel}$ is the relative velocity between two colliding particles, $m_1$ and $m_2$ are the rest masses. How is this equation derived?
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