A braking system comprising: a brake module (120; 220), comprising a rotor (122; 222) and a stator structure (124; 224) a first wobble plate (126; 226), disposed between a first side of the rotor (122; 222) and a first stator (130; 230) of the stator structure (124; 224); and a second wobble plate (128; 228), disposed between a second side of the rotor (122; 222) and a second stator (132; 232) of the stator structure (124; 224), wherein each of the first stator (130, 230) and the second stator (132, 232) comprises a planar surface distal from the rotor (122; 222), and each of the rotor (122; 222), wobble plates (126, 128; 226, 228), first stator (130, 230), and second stator (132, 232) is toothed, the stator structure (124; 224) further comprising a hollow, cylindrical sleeve (134; 234) rigidly connected to the first stator (130, 230) and to the second stator (132, 232) and defining a central opening (133; 233) of the brake module (120; 220), whereby the brake module (120; 220) is mounted in a wheel (102; 202) of a vehicle having an axle (104; 204) extending through the central opening (133; 233) of the brake module (120; 220) and the rotor (122; 222) is connected to the wheel (102; 202), the braking system further comprising: - a hydraulic caliper assembly having a pair of brake pads (108, 109), configured to engage the planar surfaces of the first stator and the second stator; or - a brake shoe having a brake lining that is configured to engage an inner surface of the cylindrical sleeve which is rigidly connected to the first stator and the second stator; whereby the wobble plates (126, 128; 226, 228) are configured to nutate when the first stator (130;230) and the second stator (132, 232) decrease their speed compared to the rotation rate of the rotor (122; 222), the nutation absorbing rotational energy thereby slowing the wobble plates (126, 128; 226, 228) which in turn slow the rotor (122; 222) and the wheel (102; 202). a brake module (120; 220), comprising a rotor (122; 222) and a stator structure (124; 224) a first wobble plate (126; 226), disposed between a first side of the rotor (122; 222) and a first stator (130; 230) of the stator structure (124; 224); and a second wobble plate (128; 228), disposed between a second side of the rotor (122; 222) and a second stator (132; 232) of the stator structure (124; 224), wherein each of the first stator (130, 230) and the second stator (132, 232) comprises a planar surface distal from the rotor (122; 222), and each of the rotor (122; 222), wobble plates (126, 128; 226, 228), first stator (130, 230), and second stator (132, 232) is toothed, the stator structure (124; 224) further comprising a hollow, cylindrical sleeve (134; 234) rigidly connected to the first stator (130, 230) and to the second stator (132, 232) and defining a central opening (133; 233) of the brake module (120; 220), whereby the brake module (120; 220) is mounted in a wheel (102; 202) of a vehicle having an axle (104; 204) extending through the central opening (133; 233) of the brake module (120; 220) and the rotor (122; 222) is connected to the wheel (102; 202), the braking system further comprising: - a hydraulic caliper assembly having a pair of brake pads (108, 109), configured to engage the planar surfaces of the first stator and the second stator; or - a brake shoe having a brake lining that is configured to engage an inner surface of the cylindrical sleeve which is rigidly connected to the first stator and the second stator; - a hydraulic caliper assembly having a pair of brake pads (108, 109), configured to engage the planar surfaces of the first stator and the second stator; or - a brake shoe having a brake lining that is configured to engage an inner surface of the cylindrical sleeve which is rigidly connected to the first stator and the second stator; whereby the wobble plates (126, 128; 226, 228) are configured to nutate when the first stator (130;230) and the second stator (132, 232) decrease their speed compared to the rotation rate of the rotor (122; 222), the nutation absorbing rotational energy thereby slowing the wobble plates (126, 128; 226, 228) which in turn slow the rotor (122; 222) and the wheel (102; 202).