If you don't have a tripod try to match your shutter speed with your focal length. (eg. 100mm with 1/100th) of a second shutter speed. And take a few pictures in a row. You may find that your second or third picture is the sharpest. In this case you'll probably need to use a larger aperature which will reduce your depth of field (and make focusing on your subject difficult) but can create some really nice "bokeh" (blurred background). This makes your subject stand out.
And practice, practice, practice!
Greg
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