There are ways to be direct without sounding like a bitch. Instead of "Hey, you need to blah blah blah quicker." with the snappy hand gestures and the attitude or "What are you doing? Blah blah blah (Now I'm ordering you to do something)." can easily be "Ok, you know how to blah blah blah. Step your game up and we can get done quicker." in a friendly, lets-do-each-other-a-solid tone or "Once your done with that, we really need blah blah blah done. Could you do that?"
Its not that you are a bitch or anything, but you haven't learned to be direct in a way that isn't bitchy. And once you learn that, you can become a better leader.
"The oceans and the rivers attract the streams by their skills in being lower than they." Condescension doesn't make anyone want to do anything. Its a God awful motivator. When you give good advice in a condescending tone, you are probably going to make the recipient want to resist the advice. Later, the recipient might heed it, but wouldn't you want him/her to receive it immediately? We're all equals here, so treat others like one.