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urge (v.)

1550s, from Latin urgere "to press hard, push forward, force, drive, compel, stimulate," perhaps [de Vaan] from a PIE root *urgh- "to tie, bind" (source also of Lithuanian veržti "tie, fasten, squeeze," vargas "need, distress," vergas "slave;" Old Church Slavonic vragu "enemy;" Gothic wrikan "persecute," Old English wrecan "drive, hunt, pursue"), via a notion of "to weigh down on," hence "to insist, impel." The other possibility is that the PIE root is *ureg- "to follow a track." Related: Urged; urging.

urge (n.)

1610s, "act of urging," from urge (v.). Marked as "rare" in Century Dictionary (1902); "in frequent use from c. 1910" [OED].

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Definitions of urge from WordNet
1
urge (v.)
force or impel in an indicated direction;
I urged him to finish his studies
Synonyms: urge on / press / exhort
urge (v.)
push for something;
Synonyms: recommend / advocate
urge (v.)
spur on or encourage especially by cheers and shouts;
Synonyms: cheer / root on / inspire / barrack / urge on / exhort / pep up
2
urge (n.)
an instinctive motive;
Synonyms: impulse
urge (n.)
a strong restless desire;
why this urge to travel?
Synonyms: itch
From wordnet.princeton.edu