Ohio Wesleyan advances to Saturday's championship game to face the winner of Friday night's Albion-Marygrove clash.
Rochester, the defending United States Collegiate Athletic Association Division I national champion, had taken a 59-58 lead on a pair of free throws by Colin Wilkinson with 1:53 to play.
Uritus followed with a 3-pointer on Ohio Wesleyan's next possession, giving the Bishops a 61-59 lead with 1:35 remaining.
The Bishops held the Warriors scoreless on their next 2 possessions, preserving the 2-point lead, before junior wing Andy Warnock sank 2 free throws with :05 remaining to hike the Bishop lead to 63-59.
Derek Evans scored a lay-in with :02 left to bring Rochester within 2, but sophomore post Ben Chojnacki buried a pair of free throws with :01 left to restore the 4-point margin and ice the win.
Ohio Wesleyan trailed, 18-15, midway through the first half before Chojnacki scored 4 points and junior point guard Ross Rybarczyk and senior wing Tyler Reed hit 3-pointers to fuel a 10-0 run.
Rochester closed to within 34-30 at halftime, but Uritus hit a pair of buckets early in the second half to give Ohio Wesleyan its biggest lead of the game.
The Warriors got back to within 48-47 on Wilkinson's 3-pointer with 8:10 left, then took their first lead of the half at 51-50 on William Goree's basket with 5:36 left. Scott Ode then hit a pair of 3-pointers to extend the Rochester lead to 57-52, but Chojnacki and Uritus countered with 3-pointers as the Bishops stormed back to lead, 58-57, with 2:18 left.
Chojnacki led the Bishops with 17 points and 10 rebounds, while Uritus finished with 14 points. Rybarczyk led the Bishops with 8 assists.
Mike Tobin led the Warriors with 15 points and shared the team lead with 5 rebounds, while Ode finished with 14 points and Wilkinson added 13 points. Evans and Goree also shared the team lead with 5 boards and Evans led Rochester with 6 assists.