RewriteEngine On
RewriteRule ^avaliar/(.*)/(.*)/(.*)$  php/chamado.php?acao=avaliar&p=$2&id=$1&avaliacao=$3 [L,QSA]
RewriteRule ^pix/(.*)/(.*)$  rel/relPix.php?p=$1&doc_codigo=$2 [L,QSA]
RewriteRule ^boleto/(.*)/(.*)$  rel/relboleto.php?p=$1&doc_codigo=$2 [L,QSA]