If you have an urge to eat candy, you really want to eat those sweets. Your mother might urge you to wait until after dinner. As a noun, urge means a desire. As a verb, it means to strongly encourage.
Urge is related to the word, urgent, or 'pressing.' An urge is a pressing want, one that is almost a compulsion, like when you're so frustrated, you have the urge to scream. If you urge someone to do something, you feel strongly about it. You might urge a friend to wear an orange shirt not because you happen to like orange, but because they're walking in the woods during hunting season.
v force or impel in an indicated direction
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urge to an unnatural speed
bear on, push
press, drive, or impel (someone) to action or completion of an action
speak, plead, or argue in favor of
push into action by pestering or annoying gently
moralise, moralize, preachify, sermonise, sermonize
speak as if delivering a sermon; express moral judgements
bull, bull through
push or force
v push for something
n an instinctive motive
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(psychology) an urge to withdraw or avoid a situation or an object
(psychology) an urge to accept or approach a situation or an object
Thanatos, death instinct, death wish
(psychoanalysis) an unconscious urge to die
itchy feet, wanderlust
very strong or irresistible impulse to travel