prod

a verbalization that encourages you to attempt something; "the ceaseless prodding got on his nerves"

a pointed instrument that is used to prod into a state of motion

to push against gently; "She nudged my elbow when she saw her friend enter the restaurant"

urge on; cause to act; "The other children egged the boy on, but he did not want to throw the stone through the window"

poke or thrust abruptly; "he jabbed his finger into her ribs"