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A minor (no sharps/flats)The flat keys with the note D as a natural are:D minorG minorC minorF minor (melodic minor, but not included in the key signature), as is is Db.The sharp keys with D as a natural are:E minorB minor (relative minor to B major)F sharp minor
For a start, the main difference is between the more martial, joyful major sound and the more sombre melancholy minor. The fact that the first note of each key (the tonic) is the same (Eb is the same as D#) is probably the only similarity. Thereafter the flattened third and sixth note of Eb minor will distinguish it in sound to the scale of D# major. The second difference is the writing; the same notes, while sounding identical, will look different on the sheet music.
Generally, the sharp and flat signs are known as accidentals. They alter the pitch of the note. As an example, D sharp is a half-step higher than D where D flat is a half step lower.
The way you would modulate from D major to Bb major would be passing through a D minor chord then modulating to G minor to get to Bb major.
Move the second note of the chord a half-step up.