A police officer in Florida was charged Friday with violating the civil rights of two women, one of them a minor, in separate episodes in 2015 that federal prosecutors said involved kidnapping, sexual abuse and threats of physical harm.

F.B.I. agents arrested the officer, Jesus Manuel Menocal Jr., 32, a police sergeant in Hialeah, Fla., outside Miami, at that city’s Police Department, a bureau spokesman said.

The indictment, which was returned by a federal grand jury on Thursday, said he violated the rights of a minor in June 2015 when, “for his own sexual gratification,” he ordered her “to remove her shorts and underwear and turn around,” according to a statement from the United States attorney for the Southern District of Florida, Ariana Fajardo Orshan.

Prosecutors also accused Sergeant Menocal of kidnapping and “the use and threatened use of a dangerous weapon” in his encounter with the girl, then 17, which happened while he was “acting under color of law,” according to a statement.