Urgent

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late 15th century: from Old French, from Latin urgent- ‘pressing, driving’, from the verb urgere (see urge).

wiktionary

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Borrowed from Middle French urgent(“pressing, impelling”), from Latin urgēns, from urgēre(“to press”).

etymonline

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urgent (adj.)

mid-15c., from Old French urgent "pressing, impelling" (14c.), from Latin urgentem (nominative urgens), present participle of urgere "to press hard, urge" (see urge (v.)). Related: Urgently.