Contrast this verb with the previous one and you’ll find opposites at work.
‘Impel’ arises earlier, from 15 Century Latin impellere,meaning to push against, to drive forward.

It means to urge or force into action, to motivate people to action.
Once again, we take degree into account from the context.

Be aware that ‘impel’ can be used in a negative sense to force a person into an action that they do not desire to take.

The resulting outcome (against their well-being) is what motivates them to take the action.

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