Problem with D5100 55-200mm VR Lens

Hi All,

I'm new to DSLR and able to take OK photos using 18-55mm VR Lens.
But when I'm trying to use my new 55-200mm VR lens; having a bit blur pic.

For example, if I'm trying to shoot an object in 2feet away from the lens when the lens is in 55mm, getting a blur photo of the object. Even in auto mode also I'm facing the same problem. IS it with the lens? or am I doing something stupid?

Please help!!!

Thanks.