We derive dynamical equations to describe a single 3-brane containing fluid
matter and a scalar field coupling to the dilaton and the gravitational fi
eld in a five-dimensional bulk. First. we show that a scalar field or an ar
bitrary fluid on the brane cannot evolve to cancel the cosmological constan
t in the bulk. Then we show that the Randall-Sundrum model is unstable unde
r small deviations from the fine-tuning between the brane tension and the b
ulk cosmological constant and even under homogeneous gravitational perturba
tions. Implications for brane world cosmologies are discussed.