"Infinitivo" is the general condition of the verb, the source of all conjugations. So, when we think of it, we must see two possibilities: "infinitivo impessoal" and "infinitivo pessoal". The first one is the common form used to be a reference for all conjugations. So, "falar", "trabalhar", "fazer", "abrir" are forms of "Infinitivo Impessoal", cos they are not related to any person of the discourse. On the other hand, when you make it personal, "pessoal", you bring conjugations to this original form. Let's observe below
Infinitivo Impessoal Infinitivo Pessoal
TU NÓS ELES
Falar Falares Falarmos Falarem
Fazer Fazeres Fazermos Fazerem
Abrir Abrires Abrirmos Abrirem
Then, you ask, isn't this contraditory? Yes, it is, and this is the beauty of the language. I've read that this exists only in Portuguese and Hungary. So, for example, I want to say in Portuguese that when we do our job, we make the world better, but I don't want to make it too personal, too attached to the things that are happening and will be for sure. I want it to be theoretical, to reveal the idea, not any commitment. I will say
Ao fazermos nosso trabalho, melhoramos o mundo.
The first sentence just says something that happened and it is happening everywhere, but it doesn't create any attachment between who is saying and what is going on. It's a good way to create evasive discourses. It's just the exposition of some principle or idea. The main characteristic to observe is the use of preposition to start a sentence. When you do this, in general, you will need the "Infinitivo Pessoal".
Para melhorar o mundo, precisamos melhorar as pessoas.
Ao encontrarem os corpos, precisaram de força para começar a operação.
Por esperarmos demais, perdemos o último ônibus.
Go practice!
Pra melhorarem, é preciso que estudem!
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