Step 1: Use the centroid formula.
The centroid of a triangle is the average of the coordinates of its vertices. For the centroid to be at the origin, we must have:
\[
\frac{2 + p + q + (-5)}{3} = 0, \quad \frac{p + (-2) + 1}{3} = 0, \quad \frac{-3 + 5 + r}{3} = 0
\]
Step 2: Solve the system of equations.
Solving these equations, we find:
\[
p = 1, \quad q = 3, \quad r = -2
\]
Step 3: Conclusion.
The correct answer is (D) \( p = 1, q = 3, r = -2 \).