Synonyms for Goad (same or very similar meaning)
WordNet sense 1 (a verbalization that encourages you to attempt something):
prod, spur, goading, prodding, spurring, urgingWordNet sense 2 (stab or urge on as if with a pointed stick):
prickWordNet sense 3 (goad or provoke,as by constant criticism):
needleFrom the ODE community, based on WordNetadd/edit