When I zoom in the lens shudders & clicks

When I zoom in the lens shudders & clicks. It is not able to focus for very long like this and the picture quality is awful. The camera had new batteries, was not in a too hot or too cold environment. It also happens whether it has been on for ten minutes or just turned for the first time that day. What should I do to fix it or does it need to be taken to specialist?

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