  We report a neutron scattering study of the magnetic excitation spectrum in
each of the three temperature and pressure driven phases of URu$_2$Si$_2$. We
find qualitatively similar excitations throughout the (H0L) scattering plane in
the hidden order and large moment phases, with no changes in the
$\hbar\omega$-widths of the excitations at the $\Sigma$ = (1.407,0,0) and $Z$ =
(1,0,0) points, within our experimental resolution. There is, however, an
increase in the gap at the $\Sigma$ point from 4.2(2) meV to 5.5(3) meV,
consistent with other indicators of enhanced antiferromagnetism under pressure.
