Weingarten formula ($D_X\xi =-A_{\xi }X+{\nabla }_X^{\perp }\xi$)

The Weingarten formula decomposes the ambient derivative of a normal field into a tangential shape operator term and the normal connection. The minus sign corresponds to $⟨A_{\xi }X,Y⟩=⟨II(X,Y),\xi ⟩$. For the outward unit normal of a unit sphere, $A_{\xi }=-I$ with this convention.