Utilization (fraction of I/O rate capacity being used)
Latency (delay between issuing I/O request and completing it)
Throughput (rate of I/O completions per second)
Classic disk algorithms use CPU rarely (since at the time, relatively, hard disks were somewhat faster than CPUs)
Modern disk algorithms use CPU more frequently (since now, CPUs are significantly faster than disks)
Overhead of doing disk I/O: