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

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Theory of Machine
Angle of dwell of cam is defined as the angle

Through which the cam rotates during the period in which the follower remains in the highest position
Of rotation of the cam for definite displacement of the follower
During which the follower returns to its initial position
Moved by the cam from the instant the follower begins to rise, till it reaches its highest position

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Theory of Machine
In a circular arc cam with roller follower, the acceleration in any position of the lift will depend only upon

Total lift, centre of gravity of the cam and cam speed
Total lift, total angle of lift, minimum radius of cam and cam speed
Mass of cam follower linkage, spring stiffness and cam speed
Radius of circular arc, cam speed, location of centre of circular arc and roller diameter

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