Whenever I try to use a back-and-forth scrubbing stroke to speed steel removal, usually when trying to lower an edge angle, I end up messing up the shoulder. Seems like no matter how I try to keep the angle consistent, I end up rounding off at least a bit. Is there a way to do it and keep the bevel nice and clean? Thanks!
Try to work at a diagonal across the stone. Every time you start and stop there will be a tendency to lag, the spine will want to move first and the edge will follow. This tendency will be strongest if you work straight back and forth into the grind path, and if you work dead parallel to the grind path it will have a tendency to rock/pivot on the bevel a bit, though this seems to be easier to accomodate than the straight perpendicular scrub.
By aligning the edge at a 45° to the grind path you will introduce added stability. There will be more surface area of the bevel on the stone, and also the entire thing will have more resistance to moving at different rates from spine to edge at the start of each motion - you increase the "beam strength" of the arm/hand/tool.
Also, keep your off hand fingertips right on top of where you're making contact with the abrasive surface. Keep them as close to the abrasive surface as you can without grinding off the skin. This keeps all the stabilizing effect right on top of the bevel - as it moves further up the blade face toward the spine, it looses its ability to assist in holding the edge stable will begin to work against you by contributing to the edge rocking.
If you're working with the edge facing you, just keep the fingers low on the blade face. If working with the edge facing away it is very important to keep the fingers of your support hand bent in a slight hook shape to keep the force they apply directed to the bevel and not higher up the blade face where it might induce wooble.
Use short, easy movements - the further you move your hands the more correections your skeleton will have to make. When I'm setting the bevel initially I might only make a pass of an inch or two. This will open up a bit as the geometry flattens out and I have more to go by, but it will always be easier to maintain tight tolerances by asking for fewer mechanical corrections. Study the hands in motion and try to see where you're allowing it to move - actively beat back these weak spots in your technique. Is relatively easy to make reasonably clean geometry, but if you want to make improvements you have to figure out where its not working as well as you'd like. This may require you hold the knife/tool in a very different manner than you are currently, or maybe just a small shift in how its supported by the digits, where the handle crosses the underside of your knuckles, bridge of the hand. Work on consistency as much as possible, apply common principles across as many tool shapes as possible.
As you work, stop often to inspect the edge and where its grinding. Learn to correlate the sensation of it moving over the abrasive with where you are on the edge. When working I also tend to lower the spine intentionally for a light pass or two as I go to get the feel for the shoulder on the abrasive, then I elevate the spine just till the sensation drops off. This keeps me working methodically from shoulder to edge and not just floating betwee the apex and the shoulder. I use this strategy right up till the polishing stone and even on my Washboard with paper I will sometimes lower the spine so I can just feel the shoulder dragging slightly and elevate just enough to make that sensation drop off. When you find yourself sandwiched between the sensation of the shoulder dragging and the apex dragging (by this point you will have ground a fresh edge and a burr should be visible) you know you have created a bevel as flat as your mechanics and tactile awareness can produce, and that shoulder should be equally as crisp.
Lastly, muddy stones will invariably soften the shoulder and possibly even scratch the blade face above the shoulder. For crisp shoulder transitions use a hard stone or wipe/rinse etc the surface of the softer stone as you go.
Ahhh, short and easy to understand! I've nailed it again!

Hmmm, maybe a drawing or two is in order.....