Geodesic
A note on the stability of the equilibrium of mechanical systems with one-way connections
Theoretical and applied mechanics, Tome 12 (1986) no. 1, p. 13 
Ranislav M. Bulatović. A note on the stability of the equilibrium of mechanical systems with one-way connections. Theoretical and applied mechanics, Tome 12 (1986) no. 1, p. 13 . http://geodesic.mathdoc.fr/item/TAM_1986_12_1_a2/
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     author = {Ranislav M. Bulatovi\'c},
     title = {A note on the stability of the equilibrium of mechanical systems with one-way connections},
     journal = {Theoretical and applied mechanics},
     pages = {13 },
     year = {1986},
     volume = {12},
     number = {1},
     language = {en},
     url = {http://geodesic.mathdoc.fr/item/TAM_1986_12_1_a2/}
}
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Voir la notice de l'article provenant de la source eLibrary of Mathematical Institute of the Serbian Academy of Sciences and Arts

A class of always stable equilibrium positions is noticeable. In the process, instability criteria are checked.