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Verb: urge on
  1. Spur on or encourage especially by cheers and shouts
    "The crowd urged on the demonstrating strikers";
    - cheer, root on, inspire, urge, barrack, exhort, pep up
     
  2. Force or impel in an indicated direction
    - urge, press, exhort

Derived forms: urged on, urging on, urges on

Type of: advise, counsel, encourage, rede [archaic]