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Commands are used when ordering or telling someone to do something. This is often referred to as the “imperative” form of the verb.
Informal, or familiar, speech is used among friends, coworkers, relatives, or when addressing a child. Formal speech is generally used to be polite or to express respect. For that reason, the formal commands are often referred to as polite commands.
The formal commands are formed the same way as the present subjunctive:
Start with the yo form of the present indicative.
Then drop the -o ending.
Finally, add the following endings:
-e (for Ud.), -en (for Uds.)
-er and -ir verbs:
-a (for Ud.), -an (for Uds.)
You hear: ayúdanos a encontrar el control remoto. You select: sí because ayúdanos is a tú command.
We have this sentence: Ayúdanos a encontrar el control remote.
So the translation is: Help us find the remote control.
The verb that we use in this sentence is ayudar. So, this sentence is in the Imperative Spanish Mood. The imperative mood is used to tell someone to do something in a direct manner. That is, sentences in the imperative mood are commands.
So, I may select:
Sí, if I want to help those people to find the remote control.