Strongly encouraging or persuading someone to do something.
From Latin 'urgere' meaning 'to push, drive, press.' The word entered English in the 15th century and has maintained its sense of pressure or insistence.
The Latin root 'urgere' is related to words about pushing and driving force, which is why 'urge' can mean both a psychological impulse and the act of persuading—both are about pushing you forward.
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