Arthashastra
वेणु दल रज्जु हस्तानाम् अन्यतमेन वा पृष्ठे त्रिर् आघातः ॥
Or three beats either with a bamboo-bark or with a rope or with the palm of the hand may be given on her hips.
english translation
veNu dala rajju hastAnAm anyatamena vA pRSThe trir AghAtaH ॥
hk transliteration by Sanscript