God appointed judges to lead the people of Israel in times of trouble after they entered the Promised Land and before they had kings. Often judges rescued the Israelites from their enemies.
Cattle farmers would poke their cattle with a sharp stick to make them move. AT "a stick used to urge cattle to move" or "a stick used to direct cattle"
The word "danger" refers to enemies that tried to harm the people of Israel. Alternate translation: "He also delivered the people of Israel from their enemies" (See: [[rc://en/ta/man/translate/figs-metonymy]])