Methods and computer program products for determining accurate estimates of coil resistance are provided. Current differences between pairs of current values are determined. Additionally, voltage differences between pairs of actuator coil voltages (corresponding to the current values) and angular velocity differences between pairs of angular velocities are determined. Coil resistance is estimated based on the current differences, the voltage differences and the angular velocity differences. These coil resistance estimates can be useful for accurately estimating actuator coil, actuator arm and/or head velocity.