Simultaneous neutron-scattering and thermal expansion measurements on the heavy-fermion superconductor URu2Si2 under hydrostatic pressure of 0.67 GPa have been performed in order to detect the successive paramagnetic, hidden order, and large moment antiferromagnetic phases on cooling. The temperature dependence of the sharp low energy excitation at the wavevector Q_0=(100) shows that this excitation is clearly a signature of the hidden order state. In the antiferromagnetic phase, this collective mode disappears. The higher energy excitation at the incommensurate wavevector Q_1=(1.4,0,0) persists in the antiferromagnetic phase but increases in energy. The collapse of the inelastic neutron scattering at Q_0 coincides with the previous observation of the disappearance of superconductivity.