How do I stop an usb device?

I've googled for much more hours than expected and I found that everybody just unplugs the usb devices having them still powered on.
Isn't there a way to stop them? All manufacturers of usb devices say that you have to stop them before unplugging.

I just unmount USB flash/HD/CD-ROM drives, and regarding printers and scanners I just unplug/power down...
I remember I had to unload the drivers when using previous versions of VMWare, else the guest OS would not have proper access to them, but this isn't an issue with VMWare 4.5X, and since I did not have any bad things happening when unplugging them, I just kept using the lazy way.

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