It's exactly the same! Like the verb voorlezen you mention (Ik lees voor), here the full verb is aanraken (ik raak aan).
There are a fairly large number of these verbs I'd say. It will probably help to think of the verbs as a combination of verbs and prepositions. So if you see a verb which looks like it starts with a preposition (e.g. voorlezen: voor), alarmbells should go off ;)
It probably won't be foolproof, but will get you a long way. Some other examples of these words: opletten [to pay attention]; optellen [to add (numbers)]; achterhouden [to withhold]; bijdragen [to contribute]; afvragen [to wonder] et cetera.