The answer to that, just like with the other question that you had is to use relationships. Once you map the relationships between Usuarios / UserRol and UserRol / Rol, you can either traverse the relationship from the user object by calling its methods:
Usuarios u = ..
for(UserRol ur : u.getUserRols()) {
Rol r = ur.getRol();
// now do something with it
}
Or find Rols with a query matching that user:
SelectQuery query = new SelectQuery(Rol.class);
query.andQualifier(ExpressionFactory.matchExp("userRol.user", u);
List<Rol> roles = context.performQuery(query);
Path argument of 'ExpressionFactory.matchExp' (i.e. "userRol.user" String) should be adjusted to match the actual relationship names starting at the Rol entity (as Rol is the root of the query), going to UserRol, and from that to Usuarios.