[verb (dictionary form)] + な
な after the dictionary form of a verb is a blunt "don't": さわる触るな, "don't touch". It is the plain negative command, and it sounds rough – a shout, an order, a warning sign.
な on the ます-stem is a different word: a casual "do it", short for なさい. One sound apart, the two mean opposite things. 来るな is "don't come"; 来な is "come here".
な is for people close to you or below you, for anger, and for emergencies. To a stranger or anyone above you it is rude. The polite request is ないでください, and the casual one among friends is ないで.
Adding よ – ゆう言うなよ – takes some of the edge off and makes it closer to a plea between friends.