Let's face it, sometimes you end up in a situation where there are three urinals and the two outer ones are already occupied. This can be analogous to "riding bitch" in a pickup truck, no bueno. The first course of action should be to use a stall if one is available. If that's not feasible, casually approach the middle urinal, unzip and aim with your writing hand and then casually do the one-handed wall lean* with the other hand (this whole process should take around 4 seconds, I just timed myself three times to get an accurate assessment). At this point you can void your bladder. There may be some situations where you have to add some extra flourish after the wall lean like taking a deep breath (through the nose only) or spitting in the urinal before you start pissing but those are highly advanced and dangerous if you're untrained in using them judiciously. For 99% of urinal usage, I've found that if you maintain frame and use the one-handed lean, men will innately know you're their equal and won't cast aspersions on you if you have to look them in the eye at the sink.
* Note to any pooners reading this, you need to maintain the one handed wall lean until it's time to shake it. Just remember that if you shake it more than three times you're playing with it.