pep up vs urge on

pep up and urge on both are verbs.

Word	Noun	Adjective	Verb	Adverb
pep up	No	No	Yes	No
urge on	No	No	Yes	No

As verbs, pep up and urge on are synonyms defined as:

pep up and urge on: spur on or encourage especially by cheers and shouts

Other synonyms of pep up include barrack, cheer, exhort, inspire, root on, urge.

pep up (verb)	urge on (verb)
make more interesting or lively	force or impel in an indicated direction
spur on or encourage especially by cheers and shouts	spur on or encourage especially by cheers and shouts