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I think the issue isn't so much the 55-200, but rather the CDAF of the camera being an issue for any and all lenses. Just isn't a strength of it for tracking motion. Even what I consider the best CDAF camera on the market, the Olympus OM-D, the tracking focus was pretty poor, compared to even an entry level DSLR, and just night and day from the likes of my Nikon D3s which are unreal in their ability to lock and follow even the most random action.
Really rather than trying to treat the camera like a DSLR though and expecting it to track focus, I think its better to take on the mindset of working with a manual focus camera, where you have to anticipate and pre/zone focus. After all, people got plenty of great action shots in days gone past, but just not hundreds of frames of every step the kid takes around the yard motor driving at 10 fps like we can do today. Thing is though, do we really need dozens or hundreds of frames ? Probably not as we are only going to select a few to edit and post/share/print or whatever.
I've found that many times even with the best AF on my DSLR's I still often will prefocus on a given spot. Say I'm wanting to get the dogs running at me. Instead of leaving it to the AF, I'll pick a spot that has a nice background, light coming from the right direction, and focus on a given spot on the grass. Then I'll have someone toss a ball past me so the dogs run right towards me and snap some shots when they pass through the in focus zone. Maybe I'll have to do that more than once to get the perfect moment captured but the dogs (just as kids) seemingly have endless energy to do it over and over
Sometimes it even adds a bit of fun in that its a little more challenging IMHO