We haven’t defined differentiability of maps from S to R 3 . Like in Section 3.2, N : S → R 3 is differentiable means that for any local parametrization (U, ϕ) of S, the map N ◦ϕ : U → R 3 is differentiable. Equivalently, any of the three components of N is a differentiable function from S to R.
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