One's first inclination might be to argue that there must be some sort of built-in animal aggression instinct that was activated by the experiment, and that Milgram's teacher-subjects were just following a genetic need to discharge this pent-up primal urge onto the pupil by administering the electrical shock.
He had an urge to open a shop of his own.
Thirst for blood is a difficult urge to satisfy.
We urge vigorous action to be taken immediately.
He urged restraint on the security forces.
They urged human beings to restrain their overarching ambitions.
They urged parliament to approve plans for their reform programme.
He urged employers to adapt their pay settlements to the economic circumstances.
He slipped his arm around her waist and urged her away from the window.