You talk to them. You tell them what's going down. You give them details. Children are not animals. They can listen, understand, speak, hold a conversation. If you need them to do something specific, in a certain time frame, for a certain reason, you tell them.
I feel like people underestimate the mental faculties of kids all the time. If you treat them with respect and just talk to them, you usually don't have to resort to abuse tactics.