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It could be one of two things, you bend the lens when dropped or the pins in the lens has become loose and are stuck.
You can try:
Taking the battery out for about 5 minutes and putting it back in to reset the camera. Also you can try hold the power button down and the ok or select button to to reset it. Also can hold the power and the menu button to try and force the lens out to dislodge the pins. If not,
The funny the is that I would have you drop it again on a carpet but on the opposite side to see if you can dislodge the pins from being stuck, try and have it land flat on its back from a decent height.
If the lens in bent you will have to bring it to a repair shop to have it fixed but it usually costs as much as a new camera.
The lens may be fixable but most likely will need to be replaced. If the lens is stuck straight or won't come out at all it needs to be replaced. If the lens is stuck at an angle then you may be able to snap it back to the center by pressing the edge of the lens back towards center while holding on the outer ring of the lens. Hope this helps!
Owner, www Darntoothysam com Digital Camera Repair
Unfortunately, many cameras that fall prey to lens error problems can only be corrected by professional repair. But, here are some last resort troubleshooting steps that you can try that may correct it. They only seem to work for less than 40% of the lens errors, but if the camera is out of warranty (or repair cost approaches that of the camera), they're worth that try.
I already tried posting this but I think it falied. Just in case, here it is again!
I just now fixed my own Nikon S220 (very similar to 210) which suffered the same fate as yours. However, I laid my camera down on a cushioned foot-rest (you could use a couch cushion or pillow on a table) with the lens facing UP, pressed down on both sides of lens front gently yet firmly, and BAM, the lens went back in all the way. I turned the power back on and the camera is good as new (except for the small dent from the fall of course).
I suggest you try this before spending $100 on repairs and/or buying a new camera!
go online and regester the camera with sony (you will not need a receipt) after you regester it wait a day then call sony service ( go online and click contact us at sony .com for the toll free number), tell them your problem with the lens (you might want to leave the dropped part out) presto your camera should now be under warrenty and they will fix it free of charge