The two pictures were with the canon 16-35mm zoom on a D60 both at 1/125 s, F4, ISO 400; the posed shot at 17mm, the jumping at 16mm.
1/125 might not have been quite quick enough, depending on how vigorously they were jumping - Bob's suggestion should at least tell you if you had the focus right, or not. There's gotta be *something* in the frame in the same area of focus that should tell you whether or not you had the focus right and/or held the camera steady enough.
At 1/125 and 16mm, you should've been able to avoid normal camera shake effects (at least, by the 1/focal length rule) - of course, if you were "following" along with the jumping....