Shooting cycling events

pabloc70

I am using the D3200 in the sport mode settings and I am trying to take pictures of cycling crits. I noticed the pictures are a little blurry and not very sharp even though I have the camera in the sport mode and I have the picture quality to high. I don't use a tripod but sometimes I get decent results and sometimes I get not so great pics. Should I be using the 15-55mm lens or the 55-200mm lens? I am usually standing in one spot near the start/finish line. Any thoughts would be appreciated.