Whip

Whips were tools primarily used to control animals or slaves.

The leader of the Sycorax invasion of Earth in 2006 carried a energy whip with him, which he used to kill Daniel Llewellyn and Richard Blake. However, it proved ineffective against the Tenth Doctor, who effortlessly caught the weapon in his hand. (TV: The Christmas Invasion)

Robomen carried whips with them to control the Daleks' human slaves. (TV: The Dalek Invasion of Earth)

The Huntsman used a whip to control Lady Adrasta's wolfweeds. (TV: The Creature from the Pit)

Mandrel tried to attack Leela with a whip, but was stopped when Cordo arrived. (TV: The Sun Makers)