The roots of polynomial $ p(s) $ are:
$$ \begin{aligned}s_1 &= 4.3234\\[1 em]s_2 &= -2.7867+0.5745i\\[1 em]s_3 &= -2.7867-0.5745i \end{aligned} $$Polynomial $ 4s^3+5s^2-64s-140 $ has no rational roots that can be found using Rational Root Test, so the roots were found using qubic formulas.