urge on vs bear on

urge on and bear on both are verbs.

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

As verbs, bear on is a hyponym of urge on; that is, bear on is a word with a more specific, narrower meaning than urge on:

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

Other hyponyms of urge on include hurry, rush, push, advocate, preach.

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