Theory of Machine
In a Hartnell governor, the stiffness of the spring is given by (where S1 and S2 = Spring forces exerted on the sleeve at max. and min. radii of rotation, and h = Compression of the spring)

(S₁ - S₂) / h
(S₁ + S₂) / h
(S₁ - S₂) / 2h
(S₁ + S₂) / 2h

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Theory of Machine
The contact ratio is given by

(Length of path of recess)/(Circular pitch)
(Length of the arc of approach)/cosφ
(Length of the path of approach)/(Circular pitch)
(Length of the arc of contact)/(Circular pitch)

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