In Europe during most of the Middle Ages (roughly 500 to 1500 A.D.), technological advancement was at a virtual standstill. Sundial styles evolved, but didn't move far from ancient Egyptian principles.
During these times, simple sundials placed above doorways were used to identify midday and four "tides" of the sunlit day. By the 10th Century, several types of pocket sundials were used. One English model identified tides and even compensated for seasonal changes of the sun's altitude.
Then, in the early-to-mid-14th century, large mechanical clocks began to appear in the towers of several large Italian cities. We have no evidence or record of the working models preceding these public clocks that were weight-driven and regulated by a verge-and-foliot escapement. Verge-and-foliot mechanisms reigned for more than 300 years with variations in the shape of the foliot. All had the same basic problem: the period of oscillation of this escapement depended heavily on the amount of driving force and the amount of friction in the drive. Like water flow, the rate was difficult to regulate.
Another advance was the invention of spring-powered clocks between 1500 and 1510 by Peter Henlein of Nuremberg. Replacing the heavy drive weights permitted smaller (and portable) clocks and watches. Although they slowed down as the mainspring unwound, they were popular among wealthy individuals due to their size and the fact that they could be put on a shelf or table instead of hanging from the wall. These advances in design were precursors to truly accurate timekeeping.
I n 1656, Christiaan Huygens, a Dutch scientist, made the first pendulum clock, regulated by a mechanism with a "natural" period of oscillation. Although Galileo Galilei, sometimes credited with inventing the pendulum, studied its motion as early as 1582, Galileo's design for a clock was not built before his death. Huygens' pendulum clock had an error of less than 1 minute a day, the first time such accuracy had been achieved. His later refinements reduced his clock's errors to less than 10 seconds a day.
Around 1675 Huygens developed the balance wheel and spring assembly, still found in some of today's wrist watches. This improvement allowed 17th century watches to keep time to 10 minutes a day. And in London in 1671 William Clement began building clocks with the new "anchor" or "recoil" escapement, a substantial improvement over the verge because it interferes less with the motion of the pendulum.
In 1721 George Graham improved the pendulum clock's accuracy to 1 second a day by compensating for changes in the pendulum's length due to temperature variations. John Harrison, a carpenter and self-taught clock-maker, refined Graham's temperature compensation techniques and added new methods of reducing friction. By 1761 he had built a marine chronometer with a spring and balance wheel escapement that won the British government's 1714 prize (of over $2,000,000 in today's currency) offered for a means of determining longitude to within one-half degree after a voyage to the West Indies. It kept time on board a rolling ship to about one-fifth of a second a day, nearly as well as a pendulum clock could do on land, and 10 times better than required.
Over the next century refinements led in 1889 to Siegmund Riefler's clock with a nearly free pendulum, which attained an accuracy of a hundredth of a second a day and became the standard in many astronomical observatories. A true free-pendulum principle was introduced by R. J. Rudd about 1898, stimulating development of several free-pendulum clocks. One of the most famous, the W. H. Shortt clock, was demonstrated in 1921. The Shortt clock almost immediately replaced Riefler's clock as a supreme timekeeper in many observatories. This clock consists of two pendulums, one a slave and the other a master. The slave pendulum gives the master pendulum the gentle pushes needed to maintain its motion, and also drives the clock's hands. This allows the master pendulum to remain free from mechanical tasks that would disturb its regularity.