Let S = Q(D) where Q(u, v) = (u2 v2, u2 +v2, v) and D= [-2, 3] x [0,5]. Let p= (0,2,1). (a) Where is S regular? (b) Find two (non-parallel) tangent vectors to S at p. (c) Find a unit normal vector to S at p. (d) Find the tangent plane at p. (e) Parametrize this tangent plane. (Just find Q; D=R2).