Retirement tax questions

Hummmm... if I decide to wait until next year, do I need to pay not only the tax for the original transferred amount ($17,000) but also for its growth (from not till the end of the year), too?  For example, if the original amount of $17,000 grew to $20,000, do I have to pay for the additional growth of $3,000 later? Does that mean I may have to pay what you refer to 'underpayment' penalty?