Run 3DSetup or whatever it's called to make sure it finds your card. It's either in the start menu Live 2000 folder or you can find it anyway in the actual Live 2000 folder.
As an aside, I thought Live 2000/2001 had some kind of copy protection on the disks, that's why IMGBurn errors on it.
EDIT: Just looked at that microsoft link, yeah SafeDisc is copy protection.
EDIT2: Just re-read your OP and noticed you're using VirtualBox. If you're having trouble with the video card emulation pass through try VMWare Player, hardware acceleration works just fine for me on that.
See, my dumb stickied thread for more useless information: viewtopic.php?f=19&t=82084