Elbow, bare, taking force (5)
I believe the answer is:
nudge
'elbow' is the definition.
(I know that elbow is a more specific form of the action nudge)
'bare taking force' is the wordplay.
'bare' becomes 'nude' (synonyms).
'taking' indicates putting letters inside.
'force' becomes 'G' (short for gravity).
'nude' going around 'g' is 'NUDGE'.
(Other definitions for nudge that I've seen before include "Push with the elbow" , "Remind, prompt gently" , "Elbow someone gently" , "Jog" , "Light touch or push" .)