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Sarah Gristwood told Inside Out: "By her late twenties Arbella was
still unmarried and being kept virtual prisoner.
"She became increasingly frustrated with her life and grew to hate her grandmother. She was desperate to take control of her life and started plotting to leave Hardwick, get a husband and possibly to make her own claim for the throne.
"But word of her plans reached the court of Elizabeth I."
Arbella became regarded as a threat to the court and the only freedom she had was through her letters.
Even when Elizabeth died in 1603 and James VI of Scotland became King, Arbella still wasn't free - since any children she had would still have a claim to the throne.
Drastic action was her downfall
So she took drastic action which led to her death in the Tower of London.
When she was 35 and James I was on the English throne, Arbella married William Seymour.
So great was the panic at court at the prospect of a new and threatening dynasty that they were deliberately separated shortly after their marriage.
At Rufford Abbey in Nottinghamshire there's a White Lady who's said to haunt the ruin. Local folklore says its Arbella Stuart - England's Lost Queen.