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
Pitch point on a cam is

Any point on pitch circle
Any point on pitch curve
The point on cam pitch curve having the minimum pressure angle
The point on cam pitch curve having the maximum pressure angle

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