How to say a given vector field is inward, outward or tengent to a hypersurface

Question

For given a hypersurface $S\subset \mathbb{R}^n$ and a vector field v on $\mathbb{R}^n$, is there any standard way to determine the vector field v is inward or outward or tangent to $S$?

In general given two manifolds $M^m$ and $N^n$ such that $M^m\subset N^n$, and a vector field v in $N^n$, can we say the vector field v is inward or outward or tangent to $M$?

Thanks, advance.