How did slaves respond to slavery? what evidence exists to show that slaves did not accept their condition without protest and that, in some cases, they were strongly defiant?

Its hard to see any actual evidence as the 'Masters' tried to keep everything a secret. But I believe some slaves played small pranks on their master as an act of defiance, they would tamper with goods etc. A handful would stand up to their Master and say no but this was rare as they were beaten senseless afterwards. I hoped this helped a little bit(: