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) / h
(S₁ + S₂) / h
(S₁ + S₂) / 2h

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Theory of Machine
Cam angle is defined as the angle

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
Of rotation of the cam for a definite displacement of the follower
Through which, the cam rotates during the period in which the follower remains in the highest position

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