urge on vs pep up

urge on and pep up both are verbs.

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

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

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

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

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