Whip

Whips were tools primarily used to control enslaved life forms.

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

On Eros, trials by combat were conducted with whips. The Eighth Doctor witnessed one such duel, then fought in one himself with Zoleon. (PROSE: The Queen of Eros)

The Ringmaster of the Psychic Circus held a whip and used it during his speeches. Captain Cook also used it to torture Mags, turned to her feral werewolf form by artificial moonlight forged by circus lights, into assaulting the Seventh Doctor for the Gods of Ragnarok's entertainment; only for it to backfire when she turns on him and kills him. (TV: The Greatest Show in the Galaxy)