goad

nouns

a pointed instrument that is used to prod into a state of motion
a verbalization that encourages you to attempt something
"the ceaseless prodding got on his nerves"

verbs

give heart or courage to
urge with or as if with a goad
is derived from
is a type of (narrower)
urge on; cause to act
"The other children egged the boy on, but he did not want to throw the stone through the window"
stab or urge on as if with a pointed stick
goad or provoke,as by constant criticism
"He needled her with his sarcastic remarks"
is derived from