The past tense of do something on the spur of the moment is did something on the spur of the moment.
The third-person singular simple present indicative form of do something on the spur of the moment is does something on the spur of the moment.
The present participle of do something on the spur of the moment is doing something on the spur of the moment.
The past participle of do something on the spur of the moment is done something on the spur of the moment.
