Synonyms for Urge on:

n.

dissuade, entice, prod, convince, persuade, prevail on, motivate, encourage, spur. urge on (noun)
cheer, inspire, exhort, press, barrack, pep up, urge.

Other synonyms:

entice, persuade, motivate, spur, dissuade, prod, prevail on. encourage, convince. Other relevant words:
encourage, prod, spur.