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How about "netstat -a", there are arguments, but if you just run "netstat -a" it will show you all connections either opened or listening for. And if you pipe it to grep you can search per user, or per service.
Sorry, I failed to notice that you were specifically interested in the URL's.
Not totally sure, but does that all fall under the browser then? You can start by observing the cache of the browswer. Yes, I realize that if someone does command line ftp, sftp, telnet, or something like that then they'd be accessing externally from a browser.
The further question then becomes, "What is your exact goal?"
For instance if it's general network monitoring, there are utilities you could use to do this. If you really want to see the exact web pages someone is browsing too, there are screen spy utilities which you can install, it's really a matter of whether you want to debug something like "your system and you don't want it talking on the internet without your consent and understanding" or "monitor your kid's use of the internet"
Netactivityviewer available at: http://netactview.sourceforge.net
is a great little app showing among other info the remote address in numbers, remote host and the process ID which you can use to kill the process (sudo kill 1949) if you have to.
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