Crossword Genius

Encourage ship's doctor, having not succeeded (4,2)

Ross

I believe the answer is:

urge on

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'encourage' is the definition.
(I know that urge on is a more specific form of encourage)

I don't understand how the rest of the clue works.

Can you help me to learn more?

(Another definition for urge on that I've seen is " Encourage".)

I've seen this clue in The Times.
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