The relationship between negative density and exposure is mathematically linear.
But there are practical limitations to this because the film emulsion has limits to how much density, (shoulder), or how little density, (toe), it can record. If you plot a graph with exposure along one axis and negative density along the other, and you plot the densities of each zone, and then connect the dots you will see a curve which represents how the film reacts to exposure and development.
The curve is S-shaped, and in the middle it's reasonably straight. Different films have more or less of an ability to record a long straight line. A straight line means that you have a normal relationship between negative density and exposure+development. The shoulder is at the top of the curve and represents where the highlight densities start to block up, and are unable to record detail with much separation, i.e. the negative highlights become difficult to print and a lot of dodging and burning becomes necessary to record tone in your print in those areas.
The toe is at the bottom of the curve, and generally means shadow details that are so vague that they either don't exist, or they are not clearly visible due to the density of the film base and any potential existing fog at the very low end of the toe, and right where the tone curve stops being a straight line, separation between shadow values are difficult to record in your print.
So, in summary you want enough exposure (and also long enough development time) to get substantial shadow detail density that print easily, and you will want to develop your negative at an appropriate duration of time and adjust your agitation intervals to keep highlights where they too are printable, i.e. below the shoulder.
Then of course there may be situations where you either can't help breaking the rules, or you might even want to break the rules and expose too little on purpose, or develop your film for much too long, to achieve a certain effect. There is no right or wrong, but it's important to understand these relationships, if you wish to be able to control how your prints will eventually look.
I hope that helps more than confuses things.
- Thomas