When would you use this vs. the regular imperative? Are they exchangeable or is one preferred over the other under certain circumstances?
There isn't any specific context to use this structure as a command, really. It's an option that is a bit more generally directed to more than one person I would say, although you could also use it for "tú". Maybe in more desperate situations where you actually need to shout the order? a typical case is what is shown in the example about the kids when they are noisy.
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