http://en.wikipedia.org/wiki/Taylor%27s_theoremUnder some conditions that you can easily check true for f(x) = e^x - sqrt(1+x) :
f(x) = f(0) + (x-0)*f'(0) + R1(x)
where f(0) + (x-0)*f'(0) is your p1(x)
and R1(x) = Integral (0,x, f''(t)*(x-t).dt)
Once you know f''(t), you can have an upper bound for |R1(x)| :
|R1(x)| =< Integral (0,x, |f''(t)|*|x|.dt)
and a brutal majoration of |f''(t)| gives you a fairly good upper bound for R1(x).
Just to be sure, you already got p1(x) = x / 2 ... ?
For the relative error, consider the sign of all quantities to prove that f(x) > p1(x).
Now you can have an upper bound of the relative error :
|f(x) - p1(x)| / | f(x) | < | R1(x)| / | p1(x) |
and you should find :
|f(x) - p1(x)| / | f(x) | < x*e^x / 2