Whipstaff, also known as a tiller arm, is a device used in older sailing ships to control the rudder. It was a vertical lever attached to the tiller (the horizontal beam connected directly to the rudder). The whipstaff was used in the 16th to the 17th centuries before the invention of the ship’s wheel. It allowed for better mechanical advantage in steering larger ships than a simple tiller handle would permit, although it required considerable physical effort and was less precise than later steering mechanisms.

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