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p^{2}-\left(1+4q^{2}+4q\right)
Rewrite as difference of two terms.
p^{2}-\left(1+2q\right)^{2}
Rewrite the terms as squares.
\left(p-1-2q\right)\left(p+1+2q\right)
The difference of squares can be factored using the rule: a^{2}-b^{2}=\left(a-b\right)\left(a+b\right).