Suppose a differential two-form $\Omega$ on $\mathbb{R}^2$ is defined by $\Omega_p(x, y)=p_2(x_1y_2-x_2y_1)$.
Then using coordinates $(p_1, p_2)$ for $\mathbb{R}^2$, this reads $$\Omega_p=\frac{1}{p_2}dp_1\wedge dp_2.$$
I don't understand why $p_2$ goes in the denominator when we use the wedge product. Can someone explain this to me please.

Hint: Write the tangent vectors $(r, s)_{\mathfrak{g}^*}(\mu)$ and $(u, v)_{\mathfrak{g}^*}(\mu)$ in terms of basis vectors for the tangent space of the orbit at $\mu$.
Apply $d\alpha\wedge d\beta$ to the pair of these tangent vectors and you will see that you get $\beta^2(rv-su)$.
(This is an exercise in your book at the end of the section.)