nudge
1. [ verb ] to push against gently
Synonyms: prod poke_at
Examples:

"She nudged my elbow when she saw her friend enter the restaurant"

Related terms: push jog elbow prod
2. [ verb ] push into action by pestering or annoying gently
Related terms: push nudger
3. [ noun ] a slight push or shake
Synonyms: jog
Related terms: push jog