impulse vs urge

impulse and urge both are nouns.

Word	Noun	Adjective	Verb	Adverb
impulse	Yes	No	No	No
urge	Yes	No	Yes	No

As nouns, impulse and urge are synonyms defined as:

impulse (noun)	urge (noun)
the act of applying force suddenly	a strong restless desire
an impelling force or strength	an instinctive motive
the electrical discharge that travels along a nerve fiber
(electronics) a sharp transient wave in the normal electrical state (or a series of such transients)
a sudden desire
an instinctive motive

impulse (verb)	urge (verb)
	force or impel in an indicated direction
	spur on or encourage especially by cheers and shouts
	push for something