Escape, grabbing whip and torch (10)
I believe the answer is:
flashlight
'torch' is the definition.
('flashlight' can be a synonym of 'torch')
'escape grabbing whip' is the wordplay.
'escape' becomes 'flight' ('flight' can be a synonym of 'escape'**).
'grabbing' indicates putting letters inside.
'whip' becomes 'lash' ('lash' can be a synonym of 'whip').
'flight' placed around 'lash' is 'FLASHLIGHT'.
'and' is the link.
(Other definitions for flashlight that I've seen before include "Electric torch" , "It may be needed to see" , "Beamer" , "One beams brightly" , "that's illuminating" .)