Here are relevant references from the Books where a whipping stick is mentioned.
I make no pronouncements on these matters, but report them as I find them.
Arrive at your own conclusions.
I wish you well,
These were the first tharlarion that I had ever seen. They frightened me. They were scaled, vast and long-necked. Yet in the water it seemed, for all their bulk, they moved delicately. One dipped its head under the surface and, moments later, the head emerged, dripping, the eyes blinking, a silverish fish struggling in the small, triangular-toothed jaws. It engorged the fish, and turned its small head, eyes now unblinking, to regard us. They were harnessed to the broad barge. They were controlled by a bargeman, with a long whipping stick, who was ensconced in a leather basket, part of the harness, slung between the two animals.
Captive of Gor Book 7 Page 80
The bargeman in the leather basket shouted out and slapped the two tharlarion on the neck with the whipping stick.