From my experience, the key to photographing the moon is to underexpose the image to capture details like the craters on the moon surface. At normal exposures, you'll just get a white round blob with no details whatsoever.

Try these steps:

• Mount the camera on a tripod with the 55-200mm.
• Use a remote shutter release. If you don't have one, use the timer.
• Put the camera in full manual mode (abbreviated as M on the dial).
• Shoot RAW, so that you can sharpen the image further in post processing.
• Use these settings - ISO 100, aperture: f/8, shutter speed: 1/160 sec, WB: Auto or sunlight (try both).
• The exposure metering will show the image as under-exposed, ignore it.
• Zoom to 200mm and put the lens and camera in manual focus mode.
• Switch to live view mode and magnify the image to the maximum extent.
• Rotate the focus ring till the image is at its sharpest.
• Use the remote shutter release or timer to take the shot.

These settings are based on my experience of shooting the moon with the D5100 and the 70-300mm VR lens and should apply to your setup as well. Experiment with different settings, especially the white balance and shutter speed and take lots of shots.