Rosemary Beef With Root Vegetables

Name: Rosemary Beef With Root Vegetables
Ingredients: * 1lb new potatoes, quartered; * 3/4lb parsnips, cut diagonally into 1 1/2-inch pieces; * 1/2lb carrots, cut diagonally into 1 1/2-inch pieces; * 4teaspoons chopped fresh rosemary, divided; * 1teaspoon salt, divided; * 3/4teaspoon freshly ground black pepper, divided; * 3teaspoons olive oil, divided; * 1 Vegetable oil cooking spray; * 1lb beef (center-cut eye of round roast), about 3 inches in diameter; * 1teaspoon finely chopped garlic; * 1/2cup nonfat plain Greek yogurt; * 2 1/2tablespoons drained bottled horseradish; * 2teaspoons white wine vinegar; * 2tablespoons snipped fresh chives or chopped fresh parsley