Theory of Machine
For an isochronous Hartnell governor (where r₁ and r₂ = Maximum and minimum radius of rotation of balls respectively, S₁ and S₂ = Maximum and minimum force exerted on the sleeve respectively, and M = Mass on the sleeve)

S₂/S₁ = r₁/r₂
(m.g + S₁)/(m.g + S₂) = r₁/r₂
(m.g - S₁)/(m.g - S₂) = r₂/r₁
S₁/S₂ = r₁/r₂

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Theory of Machine
In a single slider crank chain

Two are turning pairs and two are sliding pairs
One is a turning pair and three are sliding pairs
Each of the four pairs is a turning pair
Three are turning pairs and one is a sliding pair

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Theory of Machine
Oldham's coupling is the

Third inversion of slider crank chain
Second inversion of single slider crank chain
Second inversion of double slider crank chain
Third inversion of double slider crank chain

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