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When shooting pictures, always check the length of the lens. Take the length in mm to decide how fast your shutter speed should be. When shooting 200 mm, the shutter speed should be at least 1/200 of a second. For a 400 mm it should be 1/400 of a second, and so on. With indoors sport, you need a lens with a huge aperture like 2,8 or better and a high ISO setting, to reach the speed needed for a long lens.
Modern lenses can have vibration reduction, and with these sometimes you can shoot 3 to 4 full stops sower.
A 200 mm lens with vibration reduction can be used then at 1/25 or even 1/15 of a second and still don't need to worry about motion blur.
Photographing in low-light situations is always problematical. I'm going to assume you can't add more light, and go on to other things.
The blurring is caused by subject motion. Because the light level is so low, the shutter has to remain open for longer and thus a moving subject blurs.
Raise the sensitivity of your camera to light. Turn the ISO up. This will lead to digital noise, looking something like film grain. However, given the choice between a grainy picture and no picture...
Use the fastest lens you have, and open it up all the way. Switch to the Aperture-priority mode by turning the mode dial to A and turn the command dial to get the largest aperture (smallest f/number). This will give you the fastest shutter speed possible under the conditions. Unfortunately, the kit lenses usually sold with the D5000 are not very fast. If you see professional photographers at a basketball game or a night football game, you'll notice they're using big lenses. Unfortunately, such lenses cost $2000 and more.
Try to catch the action at its peak. For example, during a jump there's a brief instant when she stops going up and is yet to start going down. You may have to take dozens of pictures just to get one good one, but you're not paying for film and printing the bad ones, so take pictures. Lots of pictures.
This sounds like a colour balance problem. If you have set colour balance for daylight, then pictures taken in artificial light will be yellowish (or greenish under flourescents). It is best to leave the colour balance set to "auto".
You need to set the white balance for the kind of light in the gym. Take a few test shots while changing the white balance each time until you're happy with the color. For indoor shots, set your ISO to at least 800 and turn off the flash unless you're 10-12 feet from the action. If the camera has some sort of shake reduction, turn it on.
To get the fastest possible shutter speed, use the Aperture-priority (A) mode and turn the sub-command dial on the front counterclockwise until the numbers stop changing. This sets the lens at its widest aperture.
Even at your lens's widest aperture, the shutter speed will usualy be too slow to freeze the action. You can ease the situation a little by increasing the ISO, though this will result in additional noise. Personally, I'd prefer a noisy picture over a blurry picture.
If the action is close enough, you can use your flash (assuming it's permitted).
Adding lights to the gym is probably out of the question :-(
Other than that, about the only thing you can do is to use a faster lens. But then you're talking $2000 for a stop or two. That's one (or 2000) of the things that separates the _Sports Illustrated_ photographers from the rest of us.
The mode you mention above is prioritized for speed moving object such as racing, basketball game, etc...
the blurry condition is caused by the movement was too fast so the camera couldn`t capture it, the yellowish picture is caused by unmatched white balance presetting
according to my experience, when you want to capture a moment like this, switch the dial to S (shutter) mode, set the shutter speed to 1/80 or faster, using a flash will be an advantage, don`t forget to set the white balance to auto option
By using the manual white balance adjustment on most cameras, you can "filter" out the yellowish color cast you are experiencing. The adjustment is best made while standing in the area in which you will be shooting. You will see the shift in color on the camera's LCD as you switch from setting to setting. On most cameras adjustment to white balance requires you to take the camera off it's fully automatic setting.