godan verb (-tsu), transitive verb
whip; lash; spur on; encourage
Literally to strike with a whip; figuratively to drive or urge someone forward, often with harsh or forceful means. The figurative use is common in expressions like 自分を鞭打つ (to push oneself hard).
奴隷は主人に鞭打たれた。
The slave was whipped by the master.
彼は自分を鞭打って勉強した。
He spurred himself on and studied hard.