The easiest way to describe it is that the regular shaft is more flexible than the stiff one. The stiffer the shaft the quicker the swing speed needs to be to get the best from it. Also, stiffer shafts allow the ball to be hit farther, which is an exciting prospect for many amateurs but if someone with a slower swing hits a stiff shaft they will always hit low blocks instead of a nice high straight shot which they could with a regular.
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Well, stiff shafts are usually heavier and are less flexible than regular shafts. Stiff shafts are for players with faster swing speeds, around 95-105 mph.