"Mama îi urmărește pe copii."
Translation:The mother is following the children.
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You use îi here because the children are an indirect object, rather than a direct object.
Also, typically after prepositions like "pe" or "în", the noun is not articulated (so copii instead of copiii). The exception is when you use a possessive, e.g. "Mama îi urmărește pe copiii ei" -- "The mother is following her children".
The only preposition (that I know of) that doesn't follow this rule is "cu" -- "with". So: "Umblu cu copiii" -- "I walk with the children", and not "Umblu cu copii".