Make the "accident zone" unattractive and/or unavailable to your pet and the appropriate "bathroom" area attractive as a way to retrain your pet. Then use positive reinforcement techniques to show him the appropriate place to eliminate.
For "new" stains (those that are still wet):
Machine wash as usual, adding a one-pound box of baking soda to your regular detergent. It's best to air dry these items if possible. If you can still see the stain or smell the urine, machine wash the item again, and add an enzymatic cleaner (available at pet supply stores) that breaks down pet-waste odors.
If your pet urinates or defecates on the sheets or blankets on a bed, then cover the bed with a vinyl, flannel-backed tablecloth when you begin the re-training period. It's machine washable, inexpensive and unattractive to your pet.
A warm water extended soak treatment
An extended treatment is generally not necessary with pet urine and mucus stains, but for removing pet fecal stains, vomit stains, or any kind of stain which involves blood, a period of soaking with warm water is often necessary. First (without rubbing) pick up and remove as much of the mass of the pet mess as possible. Don't try to scrape it all up at this point - you might only rub it in.
Once the stained surface is as clear and dry as you can make it, take one cup of warm water and mix in either two teaspoons of cleaning product or soap, or two tablespoons of baking soda. Mix until the liquid is entirely blended, but not until it froths over.
Options for pets with persistent digestive or urination issues
If your pet has chronic diarrhea or vomiting, making messes more than once a week, it is important that you take a stool sample to your veterinarian to test for worms. This is particularly urgent if your pet's situation seems to be making him or her uncomfortable.
Animals with persistent urination issues - particularly cats - may be acting out because of stress. Changes in your pet's routine and the arrangement of your home may be enough to wean him or her of the habit of marking.
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