ἐκκεντάω

From LSJ

βάκτρῳ δ' ἐρείδου περιφερῆ στίβον χθονός → support with a staff your steps that waver on the ground

Source

Spanish (DGE)

aguijonear τοὺς βόας ... ἐκκεντᾷ ὁ λεγόμενος βουτύπος Sch.Opp.H.2.510.