Nikon 55-200 lens is stuck. When zoom ring is turned to 55 the front end of the lens does not retract all the way so that it's flush with the focus ring.

SOURCE: Zoom ring on 18-55 mm lens is locked/stuck

Are you sure it's the zoom ring that's stuck, and not the focus ring? The focus ring doesn't move when the camera is in autofocus.
If it's indeed the zoom ring that's stuck, you can spend more money than the lens is worth in repairs, or buy a replacement (circa 35 dollars on ebay) for dreadfully cheap. Good luck.

SOURCE: Problem with the Nikkor AF-S DX 55-200 zoom lens.

I just had the same exact problem! However, in my case I was finishing up a photo shoot at work, went to switch lenses, and when I picked up my 55-200mm zoom lens, the tip of it fell off!! I was able to put it back into the end of the lens, but now I am having the same autofocus problem and sound effect. I think it is because it is off track inside the lens. But I have only had mine for 5 months! I'm preparing to send it to Nikon for warrenty repair.

SOURCE: Sigma 18 -200 lens with D40x

This lens is NOT compatible as the body doesn't have a motor . £200 wasted

SOURCE: Nikon Coolpix 5700 - Lens Error

sweet. this helped. I was just too lazy to find out on my own. lol. easy solution.

SOURCE: nikon 18-200 mm vr lens not auto focusing on my nikon d200

lets start with the basics, try hard reseting it and try again, if that doesnt work then
try upgrading your firmware (if possible on your camera) and if that doesnt work then it may be the lens, but dont forget to spend a few hours trying to find a option for it in the meny