Convert the following CFG into Chomsky Normal Form using the method demonstrated in lecture:

$G=(\{S,A,B,C,D\},\{a,b,c\},S,P)$ where $P$ is the following:

$S$ABDa$|aa$

$ABC|a$

$BbB|b|$

$CCD|$

$Dc$

Note: Lambda is represented as the null production.