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"RE: D5100 shapness"
Although likely not specifically related to your issue, a rule of thumb on shutter speed to avoid "the blurs" is to insure your shutter speed is equal to or greater than your lens zoom.As an example, if I am shooting (hand held) with my Tamron 18-270 and I am zoomed out to 150mm, I insure my shutter speed is higher than 150.That helps eliminate the shaking exaggeration that occurs at higher mm.