Here are some troubleshooting steps that you can try that may correct your problem. Recommend Fixes 5 and 6 for clearing sand. If the camera is out of warranty (or repair cost approaches that of the camera), they're worth a try. Some of the later steps do involve some risk to the camera, so carefully weigh your options before deciding to conduct them:
http://camerarepair.blogspot.com/2007/12/fixing-lens-error-on-digital-camera.html
And the video provides a summary of the steps:
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