Yes, goad is a Scrabble word!

Verb

1. Give heart or courage to

2. Urge with or as if with a goad

3. Stab or urge on as if with a pointed stick

4. Goad or provoke,as by constant criticism

Noun

1. A pointed instrument that is used to prod into a state of motion

2. A verbalization that encourages you to attempt something