A method, apparatus and computer program for performing a servo seek
according to a voltage-constrained sinusoidal acceleration trajectory. In
one embodiment, the apparatus comprises a hard disk drive which has a disk
with a surface, spin motor, transducer, and an actuator arm to move a
transducer across the surface of the disk. The apparatus further includes
a controller that controls the actuator arm and to perform a seek having a
length. The actuator arm moves the transducer across the surface of the
disk with an essentially sinusoidal acceleration trajectory using a
substantially constant voltage. In another embodiment, the substantially
constant voltage is based on the maximum voltage from a power supply.
