Something that pains as if by pricking: Thorn. (Merriam – Webster)
Something that urges or stimulates into action: Spur. (Merriam – Webster)
A stick with a pointed or electrically charged end, for driving cattle, oxen, etc; prod. (Dictionary.com)
Anything that pricks or wounds like such a stick. (Dictionary.com)
Something that encourages, urges, or drives; a stimulus. (Dictionary.com)
Examples
Goad. Win every game.

https://www.wineverygame.com/words/goad.html
Are You “Kicking Against the Goads”? Bible
https://wol.jw.org/en/wol/d/r1/lp-e/2003729
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