D5100 lens questions

The D lens won't AF on your 5100. So unless you're adept at manual focus, that one's out.

The 55-200 is a kit lens, and it's not VR. It will do the job if you're good at handholding the camera.

The 55-200 VR has, well.. VR. That's a plus. And it's got a focus motor in it. Ding! Ding! Ding!

I can't respond to the Tamron as I'm not familiar with it.
 
Ended up getting the 55-200 lens for $130 shipped with the hood. Loving that lens
 

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