Urge is related to Motive. Motive is a synonym of Motivate. Motivate is related to Drive. 
Physician is related to Doctor. Resident is a type of Doctor. Resident is related to Bird. Bird is related to Bill. 
Urge <--RelatedTo--> Motive <--Synonym--> Motivate <--RelatedTo--> Drive 
Physician <--RelatedTo--> Doctor <--IsA-- Resident <--RelatedTo--> Bird <--RelatedTo--> Bill 