Rosemary Beef with Root Vegetables

Rosemary Beef with Root Vegetables was pinched from <a href="http://www.epicurious.com/recipes/food/views/Rosemary-Beef-with-Root-Vegetables-51127010" target="_blank">www.epicurious.com.</a>

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