Rosemary Beef with Root Vegetables

INGREDIENTS

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