urge on in WordNet English dictionary

1. spur on or encourage especially by cheers and shouts
   "The crowd cheered the demonstrating strikers"
   cheer  root on  inspire  urge  barrack  urge on  exhort  pep up 
   
2. force or impel in an indicated direction
   "I urged him to finish his studies"
   urge  urge on  press  exhort