2-66. Inadequate planning and preparation puts forces at risk, as does delaying action while waiting for perfect intelligence and synchronization. Risk averse commanders and units miss fleeting opportunities, which can actually increase the risk of greater casualties. Reasonably estimating and intentionally accepting risk is fundamental to conducting successful operations and essential to the mission command approach. Experienced commanders balance audacity and imagination against risk and uncertainty to strike at a time, at a place, and in a manner unexpected by enemy forces. This is the essence of surprise.