FA20 FLT CREW MISSES REQUIRED TURN ON PUBLISHED DEP FROM PWK.

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I WAS THE CAPT; DEPARTING PWK RWY 16. THERE WERE 2 PARAGRAPHS FOR THE DEP. MY FO; WHO HAD BEEN WITH THE COMPANY ABOUT 1 YR; HAD BEEN IN THE COCKPIT FOR 15 MINS GETTING THE CLRNC AND SETTING UP THE DEP. HE BRIEFED ME ON THE DEP AS I WAS SHUTTING THE DOOR. WHEN I GOT TO THE COCKPIT I BRIEFLY LOOKED AT IT. I KNEW THE FO HAD PLENTY OF TIME TO GET READY; AND I ASSUMED HE HAD STUDIED THE DEP. WE HAD A VERY SHORT TAXI AND ATC ASKED IF WE COULD TAKE AN IMMEDIATE TKOF;. I SAID YES. ON DEP; WE STARTED A 15 DEG BANK TURN AT 400 FT AGL. I CHANGED TO DEP SHORTLY BEFORE 1000 FT AGL; WHERE WE COMMENCED A 30 DEG BANK TURN. DEP TOLD US WE NEEDED A SHARPER R TURN. WE THEN BANKED 45 DEGS UNTIL WE GOT ON OUR ASSIGNED HDG. AFTER LEVELOFF; I EXAMINED THE DEP PROC. I READ THE SECOND PARAGRAPH; WHICH STATED RWY 16 REQUIRED A TURN WITHIN 1 MI TO AVOID ORD AIRSPACE. NEITHER I NOR MY FO READ THIS SECOND PARAGRAPH. NEXT TIME I HAVE A DEP PROC; I WILL REVIEW THE WHOLE THING MYSELF PRIOR TO ENG START. I WILL NOT ASSUME THAT AN EXPERIENCED FO WILL HAVE DONE IT AND BRIEFED ME CORRECTLY. WHEN I WAS AN FO; I SOMETIMES GOT ANNOYED WHEN A CAPT WENT OVER THE WHOLE DEP AFTER I HAD THOROUGHLY BRIEFED HIM. NOW I KNOW WHY!