In what ways did the Romans coerce the slaves into hard labor?

In ancient Rome, there was slave labor, that is, there was a certain group of dependent people working for their masters. So often slaves were forced to work in very difficult conditions in very difficult jobs (in quarries, in construction, etc.). Naturally, it was very hard work, and not all slaves were willing to work there. In this connection, the Romans often resorted to brute force to force the slaves to continue working: they beat them with a whip, punished them, etc.