Wake & Awake 

Both verbs have approximately the same meaning — to rise or rouse from sleep — and can have both transitive (I woke up the dog.) and intransitive (I am waking up.) meanings. "Awaken" is a bit more formal (some would say stuffy). "To wake" is nearly always a phrasal verb, accompanied by "up," except in the sense of keeping watch near a corpse before burial.
The passive forms of these verbs are the same as the passive forms of to speak . We would say "Angry words have been spoken," and we would say "The children have been woken/awoken/woken up by the thunder."