We have no option but to move even though we're swinging the rope and trying to push him where we'd like him to go.
Don't 'swing' the rope around -- leave a welt on his butt with it. Other horses do not grin and show their teeth. They bite a hunk out!
I am not a big fan of whips. I am a bigger fan of using a long, heavy lead-rope or just jerking the lead-rope on the halter until the horse gets back convincingly.
NEVER, NEVER, NEVER threaten a horse with anything you are not willing and ready to actually hit him with.
Teaching a horse basic manners works best like this:
1) ASK a horse to do something (like move a certain direction). If he does not comply --
2) TELL him in a much more forceful way. If he still does not comply (or does not comply willingly and quickly) --
3) MAKE HIM WISH HE HAD DONE IT THE FIRST TIME YOU ASKED!
This is what horses understand. It does not work to just threaten them or 'peck' at them. This angers them and they will hold that person in great disdain. This is when they attack, bite, paw or kick people. They not only have no respect, they develop a great hatred for those that threaten and peck at them.
I do not make the rules. I just know how they work. You cannot love, pet, treat, cajole, threaten or peck a horse into wanting to do what you want or to have respect for you.