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Imagine you're somewhere in the wilderness in Africa with your friends. A short while ago you had seen a lion sleeping. You thought he didn't notice you when you sneaked past, but he did. So when he gets up and starts coming towards you, you shout to your friends: "Run, the lion!"
The rule is complex because it includes the Subjunctive. Honestly, it is easier to memorize. But there it is: There are two Imperatives, Affirmative and Negative. You will use the same conjugation as the one used for the Present of Subjunctive Mode. The exception is "tu" and "vós" on the an Affirmative Imperative, which have its own form to be memorized.
Example using the verb "falar" (to speak): - PRESENT OF SUBJUNCTIVE MODE: 1. que eu fale 2. que tu fales 3. que ele/ela/você fale 4. que nós falemos 5. que vós faleis 6. que eles/elas/vocês falem - AFFIRMATIVE IMPERATIVE: 1. (you can't order yourself, so no "eu") 2. fala (tu) (the one with no rule) 3. fale (ele/ela/você) 4. falemos (nós) 5. falai (vós) (the other one with no rule) 6. falem (eles/elas/vocês) - NEGATIVE IMPERATIVE: 1. (again, you can't forbid yourself, so no "eu") 2. não fales (tu) 3. não fale (ele/ela/você) 4. não falemos (nós) 5. não faleis (vós) 6. não falem (eles/elas/vocês)
Note: look for conjugation websites, they have didatical charts. ("conjugação, modo imperativo")
Since imperative mode reffers to an order, the verbs in portuguese can be conjugated on any person other than "I" (eu). Corre (tu), corra (ele/ela/você), corramos (nós), correi (vós), corram (eles/elas/vocês). But on speech you'll hardly hear te "nós" or "vós" imperative conjugation. Note: the imperative is different for verbs finishing in "ar", "er", "ir". My example was for "corrER". Look for "conjugação no modo imperativo", you'll find numerous sites with great didatical chats. ;)