A common rule of thumb for estimating how fast the exposure needs to be for a given focal length is the one over focal length rule. This states that for a 35 mm camera, the exposure time needs to be at least as fast as one over the focal length in seconds. In other words, when using a 200 mm focal length on a 35 mm camera, the exposure time needs to be at least 1/200 seconds — otherwise blurring may be hard to avoid. See the tutorial on reducing camera shake with hand-held photos for more on this topic.
Keep in mind that this rule is just for rough guidance; some may be able to hand hold a shot for much longer or shorter times. For users of digital cameras with cropped sensors, one needs to convert into a 35 mm equivalent focal length.