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Double differential cross sections of positively charged pions and protons have been measured in nuclear collisions of mass-symmetric systems (Ne+NaF, Ni+Ni, Au+Au, Bi+Pb) at incident energies between 0.8 and 1.8 AGeV as a function of the centrality of the reaction. Using a magnetic spectrometer pions and protons were detected with laboratory angles between 40 and 48 degrees, and with momenta up to about 1400 MeV/c. This setting allows for the study of pions and protons emitted close to midrapidity. The center-of-mass pion spectra deviate from a Boltzmann distribution. The inverse slope parameters of the high-energetic pions are smaller than those of the proton spectra and they exhibit a weaker centrality dependence. A scenario is presented where the shape of the pion spectra reflects the decay kinematics of nucleonic resonances embedded in the thermal and the collective motion of the nucleons in the reaction zone. The number of emitted pions per participating nucleon is higher for light than for heavy mass systems. For a given mass system, the total pion multiplicity increases linearly with the number of participating nucleons, whereas the multiplicity of high-energy pions increases more than linearly. This result is consistent with a scenario where the high-energy pions are produced in multiple energetic baryon-baryon collisions occurring in the high-density phase of the collision. 25.75.Dw PACS: