"We need you to take off your shirt."
Translation:Nós precisamos que você tire a camisa.
2020 Joshua, I will apologise now because I am not at all sure that my reply is accurate! I think that "precisar" drops the "de" when the sublect it is referring to is a verb. So "nós PRECISAMOS que você TIRE a (sua) camisa" Please anyone correct me if I am wrong (or verify if I am right).