Before starting up your Centos 5.5 VirtualBox instance, make sure you set the VirtualBox Guest Addition ISO in the virtual cdrom drive.
Now prepare your Centos 5.5 VirtualBox instance.
yum install gcc kernel-devel-`uname -r`
# mount the VirtualBox Guest Additions ISO
mkdir /media/cdrom;
mount /dev/cdrom /media/cdrom
# assuming your Centos 5.5 is 64 bit
sh /media/cdrom/VBoxLinuxAdditions-amd64.run
# assuming your Centos 5.5 is 32 bit
sh /media/cdrom/VBoxLinuxAdditions-x86.run
reboot
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