The key thing in getting sharp shots when you’re not using a tripod and you’re physically moving the camera is shutter speed, Rab. There’s a great little guide you can use to avoid motion blur and it’s the 1/focal length guide. Basically it states that to avoid blur your shutter speed should be at least equal to or greater than your shutter speed if you’re hand-holding the camera. I usually aim to be at least 1/3 of a stop quicker than the focal length, so:

100mm would be 1/125th or quicker
160mm would be 1/200th or quicker
200mm would be 1/250th or quicker
300mm would be 1/400th or quicker

Some of the images here have a shutter speed less than the focal length, if you can adjust the camera settings to get a quicker shutter speed then you should find you have less problems. It isn’t a guarantee you’ll get sharp images as general technique plays a huge part, but it should certainly help. Remember that depth of field decreases as focal length increases, so try keeping the aperture as close to f/7.1-f/8 as you can.