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This is a very good point, actually. There is a rule, basically, that you have to pronounce "c" soft befor "я", but in this and similar cases you pronounce "торопицца": "тьc" becomes "ц" and it is...

1) telling a child to ...relax; also 'calm down' if they are upset.

"Успокойся" is good for both cases. If he cries, you can say: "не плачь". If he is sad: "Не грусти".

2) Hurry-up, or quickly...