RIO DE JANEIRO — The effort to impeach President Dilma Rousseff cleared a congressional panel on Monday, setting up a cliffhanger vote on her ouster in the coming days in Brazil’s Chamber of Deputies.

Tempers flared ahead of the 38-27 vote, with members of Congress screaming at each other during the nationally televised proceedings. The panel was charged with investigating the accusations against Ms. Rousseff and deciding if it was warranted to recommend impeachment to the Chamber of Deputies, the lower house of the National Congress.

Ms. Rousseff’s supporters are now scrambling ahead of the floor vote in the lower house, where they hope to prevent two-thirds of the 513 deputies from voting for impeachment.