In my collection are a flogger, crop, and lucite cane. I have not wielded the cane hard, for fear of breaking the skin, and leaving more visible marks (one of my limits to those who ask to kneel in front of me).
The crop can sting, the flogger has it's impact spread out more wider, and does not usually leave marks that last.
A quirt is on my wish list. I believe that it's sting is more like a rolled up towel, and can leave a little bruising (not like the cane, though)