The concentration of the dominant form of the acid at pH =5.10 is 2.09 mmol/L.
This time you're dealing with a diprotic acid. The general forms of the equations look like this:
H2A+H2O⇌HA−+H+3O, →pKa1=4.19
HA−+H2O⇌A2−+H+3O, →pKa2=5.57
Once again, the pH is bigger than pKa1 and smaller than pKa2, which means that the dominant form of the acid will be HA−. You need to set up two equations with two unknows - the concentrations of the acid forms. One will the Henderson - Hasselbalch equation, and the other the total given concentration for both forms of the acid.
[H2A]+[HA−]=2.35 (1)
pH=pKa1+log([HA−][H2A]) (2)
Solve equation (2) first.
5.10=4.19+log([HA−][H2A])⇒log([HA−][H2A])=0.91
[HA−][H2A]=8.13
Since you're interested in determining the value of [HA−], plug [H2A]=[HA−]8.13 into equation (1)
HA−8.13+[HA−]=2.35⇒[HA−]+8.13⋅[HA−]=19.1
[HA−]=19.19.13=2.09 mmol/L