Stir, rouse (4)
I believe the answer is:
goad
I believe this is a double definition.
'stir' is the first definition.
(I know this)
'rouse' is the second definition.
(thesaurus)
(Other definitions for goad that I've seen before include "Incite to act against one's inclination" , "Prompt" , "Act as stimulus - with pointed stick?" , "Incite to action" , "Prod with a pointed stick" .)