Domain of the exponential map

The domain of ${\exp }_p$ is the star-shaped open setSmooth dependence for ordinary differential equations makes $(p,v)\mapsto {\exp }_p(v)$ smooth on its open domain in $TM$.

For $S=({\mathbb{R}}^2\setminus \{0\})\times \{0\}\subset {\mathbb{R}}^3$ and $p=(1,0,0)$, geodesics are straight lines until they hit the missing origin. Thus $(-2,0,0)\notin {\mathcal{D}}_p$, and $(-1,0,0)$ is not in the image of ${\exp }_p$ because its unique straight segment from $p$ passes through the origin.