Urinate is the formal verb for passing urine out of your body. It is what a doctor asks you ("Does it hurt when you urinate?"), what a form or a sign says, and what a lawyer says in court ("urinating in public"). In everyday talk, almost nobody uses it — English speakers say **pee** (safe and normal for all ages), **go to the toilet / go to the bathroom** (the politest way to avoid the topic), **wee** or **wee-wee** (children), or **take a leak / piss** (rough and rude; piss especially can offend). So urinate sits at the very formal end of a long ladder, and using it with friends sounds strangely stiff, almost funny — a bit like saying "I must urinate" at dinner. The verb does not take an object: you urinate, full stop. Just add where or when — urinate in a cup, urinate frequently, urinate outdoors.