BRASÍLIA—A congressional impeachment committee voted late Monday to recommend a Senate trial for President Dilma Rousseff on charges of manipulating public finances, in a raucous session that sets up a decision this weekend by the entire lower house of congress.

Following the tumultuous daylong meeting punctuated by shouts of “Dilma out!” and “No coup!” from rival factions, the 65-member panel voted 38-27 to approve a committee report recommending impeachment.

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