A braking device comprising: a body mounted for rotation about a first axis; means (12, 13, 14, 38, 39, 40, 41, 42, 43, 44) for rotating the body about the first axis; characterised in that the braking device comprises a second axis, a third axis and a fourth axis, the braking device being configured as to enable the body to further rotate about the second axis and the third axis, the first axis being oriented with respect to the second axis at an alpha angle (α) which is greater than 0 degrees, the second axis being oriented with respect to the fourth axis at a beta angle (β) which is greater than 0 degrees and less than 90 degrees, the third axis being the precession axis about which the precession of the body occurs as a result of rotating the body about the first axis and applying torque to the body about the second axis, wherein the second axis is allowed to rotate about the fourth axis independently of rotation of the body about the second axis, and the body is allowed to rotate about the second axis independently of rotation of the second axis about the fourth axis; the braking device further comprises means (16, 37) for connecting a rotation that is desired to be braked about the fourth axis to the body so as to transmit rotation and torque to the body about the second axis; whereby the rotation of the body about the first axis and the torque applied to the body about the second axis together cause the body to further rotate about the third axis, the body rotates about the first axis, the second axis and the third axis simultaneously, the rotation of the body about the first axis and the rotation of the body about the third axis together cause a braking torque to occur about the second axis; thereby to obtain braking torque against the rotation that is desired to be braked about the fourth axis. a body mounted for rotation about a first axis; means (12, 13, 14, 38, 39, 40, 41, 42, 43, 44) for rotating the body about the first axis; characterised in that the braking device comprises a second axis, a third axis and a fourth axis, the braking device being configured as to enable the body to further rotate about the second axis and the third axis, the first axis being oriented with respect to the second axis at an alpha angle (α) which is greater than 0 degrees, the second axis being oriented with respect to the fourth axis at a beta angle (β) which is greater than 0 degrees and less than 90 degrees, the third axis being the precession axis about which the precession of the body occurs as a result of rotating the body about the first axis and applying torque to the body about the second axis, wherein the second axis is allowed to rotate about the fourth axis independently of rotation of the body about the second axis, and the body is allowed to rotate about the second axis independently of rotation of the second axis about the fourth axis; the braking device further comprises means (16, 37) for connecting a rotation that is desired to be braked about the fourth axis to the body so as to transmit rotation and torque to the body about the second axis; whereby the rotation of the body about the first axis and the torque applied to the body about the second axis together cause the body to further rotate about the third axis, the body rotates about the first axis, the second axis and the third axis simultaneously, the rotation of the body about the first axis and the rotation of the body about the third axis together cause a braking torque to occur about the second axis; thereby to obtain braking torque against the rotation that is desired to be braked about the fourth axis.