Urge on means to encourage or motivate someone to continue doing something, often with a strong sense of urgency.
Urge-on is a less common word, but it can also mean to encourage or motivate someone to continue.
Here are some examples:
* "The coach urged on his team to score another goal."
* "Her friends urged her on to finally confess her feelings."
* "The crowds' cheers urged-on the runners to finish the race."
It's important to note that "urge-on" is often used in a more informal or metaphorical way.
However, both phrases share the same meaning and can be used interchangeably in most contexts.