poke [intransitive, transitive] to quickly push your finger or some other pointed object into something or someone
poke somebody/something with something
Andy poked the fish with his finger to see if it was still alive.
poke somebody in the eye/arm/ribs etc
Be careful with that umbrella or you’ll poke someone in the eye.
He was poking at the dust with a stick, making little patterns.
Let's say, there is a stick emerges from a ground & a kid is playing near there as showed in this picture.
Could we say "Watch out for the stick! it (the stick) may poke into your eyes"?
However, according to the above definition, the verb "poke" can only be used if a person pokes the stick into someone's eyes. The stick can not poke by itself.