I remember my early days in the kitchen. I used to find all the varieties of lentils so confusing. Instinctively, I am posting these pictures to help you identify the three lentils which can be cooked without a pressure cooker. Please note that soaking prior to cooking cuts down the cooking time. 

              Masoor Dal /Split Red Lentil

                         Moong Dal / Split Yellow Lentil

         Mung Dal Chilti/ Split Whole Moong