To solve this problem, we need to determine the relationship between the speeds of two cars, $A$ and $B$, at the finish line where car $A$ takes $t$ seconds less than car $B$. Both cars start from rest and travel with constant accelerations $a_1$ and $a_2$, respectively.
The correct option that matches our derived formula is $\sqrt{a_1 a_2 } t$.
Therefore, the correct answer is $\sqrt{a_1 a_2 } t$, which corresponds to the geometric mean of the accelerations multiplied by the time difference \( t \).