Resource: https://www.advocate.com/sexy-beast/2018/9/29/20-ways-tickle-your-partner

Paddles, floggers, and whips are classic symbols of sadomasochism. Technically they are toys of impact play. This is often considered to be part of the pain aspects of SM, but it can occur with or without pain or with pain of varying degrees. The function is not to generate pain, but rather to apply stimulation what is ultimately pleasurable. This is accomplished by starting light and working to heavier intensity, except when playing with someone who is very experienced at receiving pain. When impact is used as part of Ds, it can be the intention to delivery pain if the goal of the impact is discipline/punishment.

Kicking and trampling have a lot in common with impact play, but it can also call in somewhat of a fetish or degradation element.