A braking device comprising: a body; inner supporting means for supporting the body for rotation about a first axis; outer supporting means for supporting the inner supporting means for rotation about a second axis, wherein the first axis is oriented with respect to the second axis at an alpha angle (α) which is greater than 0 degrees; means (14,15,16,30,31) for rotating the body about the first axis; means for connecting a rotation that is desired to be braked about a fourth axis to the body so as to transmit rotation and torque to the body about the second axis, wherein the second axis is oriented with respect to the fourth axis at a beta angle (β) which is greater than 0 degrees and less than 90 degrees; suspension means (9,10,11,29) for supporting the outer supporting means, wherein the suspension means (9,10,11,29) is so configured as to allow rotation of the second axis about the fourth axis, and the suspension means (9,10,11,29) is so configured as to prevent rotation of the outer supporting means about the second axis; characterised in that the body is further allowed to rotate about a third axis which is 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, 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; inner supporting means for supporting the body for rotation about a first axis; outer supporting means for supporting the inner supporting means for rotation about a second axis, wherein the first axis is oriented with respect to the second axis at an alpha angle (α) which is greater than 0 degrees; means (14,15,16,30,31) for rotating the body about the first axis; means for connecting a rotation that is desired to be braked about a fourth axis to the body so as to transmit rotation and torque to the body about the second axis, wherein the second axis is oriented with respect to the fourth axis at a beta angle (β) which is greater than 0 degrees and less than 90 degrees; suspension means (9,10,11,29) for supporting the outer supporting means, wherein the suspension means (9,10,11,29) is so configured as to allow rotation of the second axis about the fourth axis, and the suspension means (9,10,11,29) is so configured as to prevent rotation of the outer supporting means about the second axis; characterised in that the body is further allowed to rotate about a third axis which is 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, 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.