Forming the imperative for usted/ustedes/nosotros/nosotras (affirmative and negative commands)

In Spanish, the nosotros/nosotras/usted/ustedes forms of El Imperativo, both in affirmative and negative commands take same form as El Presente de Subjuntivo. Let's look at nosotros/nosotras first, then usted/ustedes.

Spanish imperative of Nosotros/Nosotras (we)

To say Let's [do something] or Let's not [do something]  in Spanish as a form of command to ourselves we use the verb in the present subjunctive form for nosotros/nosotras (first person plural). 

Have a look at these examples:

Ella no quiere que nosotros comamos tan rápido. (present subjunctive)
She doesn't want us to eat so fast.

¡Comamos más rápido!Let's eat faster!
(affirmative command)

¡No comamos tan rápido!Let's not eat so fast!
(negative command)

Notice how they all coincide in their form. 

Alternative structures not using the imperative

Bear in mind though, that in a more colloquial way, we would probably use an interrogative sentence introduced by "¿Por qué no...?" followed by El Presente with the same purpose, an affirmative command to "ourselves". For example:

¿Por qué no vamos a la playa?
Why don't we go to the beach?/Let's go to the beach!

And in the negative cases, we would probably prefer to use a different sentence structure introduced by "Mejor no..." followed by El Presente. For example:

Mejor no vamos a la playa. 
Let's not go to the beach!

Both "¿Por qué no...?" and "Mejor no..." followed by El Presente are more frequently used in speech than their equivalent forms using the imperative:

Vayamos a la playa.
Let's go to the beach! (affirmative command)

No vayamos a la playa.
Let's not go to the beach! (negative command)

Here are other examples using the imperative:

¡Hagamos una fiesta!Let's organise a party!

¡Limpiemos el coche!Let's clean the car!

¡Tengamos paciencia!Let's be patient!

¡No seamos egoístas!Let's not be selfish!

Spanish imperative of Usted and Ustedes (you formal singular and plural)

To express an affirmative or negative command directed to "you" (formal) we also use the usted/ustedes form (3rd person singular/plural) in El Presente de Subjuntivo. A typical situation is in a formal conversation or transaction, for example in a bank.

Here are some examples:

Necesito que firme aquí, Señor. (present subjunctive)
I need you to sign here, Sir.

Señor, firme aquí, por favor.Sir, sign here, please.
(affirmative command)

Señor, no firme aquí.Sir, do not sign here.
(negative command)

Señoritas, no es bueno que beban mucho champán. (present subjunctive)
Ladies, it is not good to drink lots of champagne.

Señoritas, beban un poco de champán.Ladies, drink a little champagne.
(affirmative command)

Señoritas, ¡no beban tanto champán!Ladies, don't drink so much champaigne!
(negative command)

Notice how they all coincide in their form. 

Another typical context for this is road signs:

Conduzca despacio.Drive slowly.
(affirmative command, usted form)

Disminuya la velocidad.Reduce speed.
(affirmative command, usted form)

No tiren papeles al suelo.Don't throw papers on the floor.
(negative command, ustedes form)

Here are more examples (usted):

¡Tenga el cambio!Here's your change! 

Señor, ¡no corra!Sir, don't run

¡Diga la verdad!Tell the truth! 

Here are more examples (ustedes):

¡Salgan a tiempo!Leave on time!

Señor y Señora Valls, ¡compren una nueva lavadora!Mr. and Mrs. Valls, buy a new washing machine!

¡No digan mentiras!Don't tell lies! 

No hablen tan rápido, por favor.Don't speak so fast, please.

 

Remember that many verbs undergo stem changes and consonant changes when they are conjugated in  El Presente de Subjuntivo and these need to be kept when making a command.

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Examples and resources

Señoritas, ¡no beban tanto champán!Ladies, don't drink so much champaigne!
Señor, firme aquí, por favor.Sir, sign here, please.
Señor y Señora Valls, ¡compren una nueva lavadora!Mr. and Mrs. Valls, buy a new washing machine!
¡Vengan a la escuela!Come to school! ("you" plural formal = "ustedes")
¡Hagan el trabajo! Do the job! ("you" plural formal = "ustedes")
¡Limpiemos el coche!Let's clean the car!
¡No corran por allí!Don't run over there! ("you" plural formal = "ustedes")
¡Diga la verdad!Tell the truth! 
¡Sean simpáticos!Be nice! ("you" plural formal)
No tiren papeles al suelo.Don't throw papers on the floor.
¡Salga a la calle!Go out on the street! ("you" singular formal = "usted")
¡No comamos tan rápido!Let's not eat so fast!
Señor Perez, ¡compre un ordenador cuanto antes!Mr. Perez, buy a computer as soon as possible!
¡Tenga el cambio!Here's your change! 
¡Salgamos esta noche!Let's go out tonight!
¡Pongan la radio! Put the radio on! ("you" plural formal = "ustedes")
¡Vayamos al pueblo! (Nosotros/nosotras.)Let's go to the village!
¡No seamos egoístas!Let's not be selfish!
Disminuya la velocidad.Reduce speed.
¡Hagamos la cena! Let's make dinner! 
¡Vayan juntos a la fiesta!Go together to the party! (You formal plural.)
¡Pidamos otra ronda!Let's order another round!
¡Chicos, corramos la maratón!Guys, let's run the marathon!
¡Comamos más rápido!Let's eat faster!
Señor, ¡no corra!Sir, don't run
No hablen tan rápido, por favor.Don't speak so fast, please.
¡Ponga atención!Pay attention! ("you" singular formal = "usted")
Señoritas, beban un poco de champán.Ladies, drink a little champagne.
¡Conduzcamos con cuidado!Let's drive carefully!
Conduzca despacio.Drive slowly.
Señorita, ¡cante esa linda canción!Miss, sing that lovely song!
¡Juguemos al ajedrez!Let's play chess!
¡Hagamos una fiesta!Let's organise a party!
¡Amigos, bebamos hasta el amanecer!Friends, let's drink until dawn!
¡No tuerzan a la derecha!Don't turn right! ("you" plural formal)
¡No digan mentiras!Don't tell lies! 
¡Tengamos una buena fiesta!Let's have a great party!
¡Tengamos paciencia!Let's be patient!
Disminuya la velocidad.Reduce speed.
¡Hablemos con tranquilidad!Let's talk with calm!
Señor, no firme aquí.Sir, do not sign here.
¡Vaya a la escuela! (Usted.)Go to school! (You sing. formal.)
¡Venga a la fiesta!Come to the party! ("you" singular formal = "usted")
¡Haga la compra! Do the shopping! ("you" singular formal = "usted")
Señora Matos, ¡compre lo que hay en la lista!Mrs Matos, buy what's on the list!
¡Tengan más cuidado!Be more careful! ("you" plural formal = "ustedes")
¡Salgan a tiempo!Leave on time!
¡Seamos inteligentes!Let's be intelligent!
¡Pongamos música!Let's turn the music on!
I'll be right with you...