bear on vs urge on

bear on and urge on both are verbs.

Word	Noun	Adjective	Verb	Adverb
bear on	No	No	Yes	No
urge on	No	No	Yes	No

As verbs, urge on is a hypernym of bear on; that is, urge on is a word with a broader meaning than bear on:

bear on: press, drive, or impel (someone) to action or completion of an action
urge on: force or impel in an indicated direction

Other hypernyms of bear on include exhort, press, urge.

bear on (verb)	urge on (verb)
have an effect upon	force or impel in an indicated direction
press, drive, or impel (someone) to action or completion of an action	spur on or encourage especially by cheers and shouts
be relevant to
keep or maintain in unaltered condition; cause to remain or last