ERJ-170 First Officer reported landing safely after experiencing low quantity and pressure in Hydraulic System 2.

Narrative

Experienced hyd 2 low quality and press EICAS message during approach to XX in ZZZ. We elected to go around and advised ATC. Upon executing the soft go around and attempting to bring gear up; we received a landing gear disagree EICAS warning message; shortly after this the Captain [requested priority] as I executed the landing gear lever disagree QRH and message went away when we put the gear lever back to down. EICAS indicated 3 green for the gear. I then proceeded to continue the hyd 2 low pressure QRH. Once we were more established and safe; the Captain remained on the flight controls and handled comm 1 radio and also asked ATC to notify the company and [request priority] while I proceeded to finish the QRH including inputting the landing data found in QRH page and complete the loss of hyd 2 descent checklist. During this the Captain notified the Flight Attendants and Passengers. I took back comm 1 radio and assisted with loading ZZZ1 into the Multipurpose Control Display Unit (MCDU) and loading the XXL ILS. Upon final approach I completed the associated loss of hyd 2 landing checklist. Landing went without incident and we were able to vacate the runway at Taxiway 1 where we were met by fire and rescue vehicles who then inspected the aircraft and indicated there were no leak/fire. We were then notified about the tug being enroute and we were towed to gate. Upon post flight walk around inspection I found the left side of the aircraft; aft of the wing; covered in an oily substance and the entirety of the inside of the left main gear wheel well was covered in the same oily substance that I presumed was the hydraulic fluid.Suggestions: The cause of the issue should be more thoroughly investigated as this issue has seemed to have happened to several other Embraer aircraft.