Are clothes washed by mushrekeen or Ahlul kitab (Zoroastrians, Jews and Christians) paak or naapak?
They are napaak.
What are we supposed to do of a cloth which comes in contact with urine?
The cloth must be scrubbed thoroughly and rinsed twice before being made namazi.
What if a person unknowingly prays namaz in napaak clothes and after the completion of namaz, he comes to know about the napaaki?
He does not have to pray again. His namaz is jaaiz.
What if a person knows that his clothes are napaak, but forgets at the time of praying?
He has to pray again.
What if a person prays namaz in the case that his body is napaak?
Whether or not he knew about the napaaki before praying namaz, he must pray again.