What is the difference between these 2 camera lenses?

I just got a nikon D3100 camera and it came with 2 lenses:
18-55mm VR Zoom- NIKKOR
and
55-200 VR Zoom- NIKKOR

what's the difference between them and what instance would i use one and not the other?

It should be pretty obvious what you can and can't do with those lenses.

the 18-55 can be described as a wide angle-moderate telephoto, good for landscapes to head and shoulder portraits
the 55-200 is a moderate telephoto-medium/large telephoto.

I use my 55-200 for outside sports from the sidelines

Put each lens in turn onto the camera and look through the viewfinder whilst adjusting the zoom.

You will see that the 18-55 will let you fit wide views into the photo such as interiors and landscapes.
The 22-200 will bring distant objects closer.

The effect you see in the viewfinder will be the same in the photos