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Most digital cameras jams are the cost of lens problems while zooming, with Nikon Coolpix S4000, simply use your fingers carefully pulling on the lens while turning the camera on. this can be done by getting your fingernail under the lens opening and gently pull.
Take a close look at the lens barrels. Are they bent, out of round or (gasp) cracked?
A jammed lens is the most common cause of the problems you are discribing. The only solution is to replace the lens unit and the cost of the part alone is more then the camera is worth.
I banged mine around several times and tried to force the retractable lens in and out. Neither of these things worked. I finally thought "what the heck it's broken anyway" and used a bobby pin to try to force the outer lens cover off. After applying just slight pressure it unjambed the lens cover and it works fine now.