Rangers aren´t that great when it comes to intimidation, but with the half-orc bonuses and something like intimidating prowess (presuming you are going for a strength build) you will do well enough.
To be honest, the default ranger or the urban ranger are both pretty decent imo. As 666bender suggested, dipping a level in rogue (or even a few levels, if you are using the unchained rogue) isn´t a bad idea, but I am not that keen on it as it delays some nice ranger abilities, especially if you are using an animal companion. It makes your intimidate much better, but at a cost.
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You want the power attack + C. Smash for intimidating as a free action when you hit an enemy. I recommend a Cruel weapon to just drive a nail into their coffin.
Skill focus- Intimidate will help you make sure you just blow the check out the water. It will help out of combat as well.
Signature Skill Feat would be flavorful to get panicked and then Frightened levels of fear. You can magic item boost your skill checks to make it stick.
Another class that can work is slayer or Inquisitor. Both can work well for intimidating foes.
Yeah, slayer probably works better for this, since it is basically "ranger, but more rogue-ish". Their studied target ability can affect intimidation, giving a +1 to +5 bonus.
Guide from Le Petite Mort. The Noble Art of Intimimancy.
Slayers are a great choice. An even better one if this isn't PFS if you check out the guide.