Using the lumped circuit equations, we derive a stability criterion for superconducting pinned states in two-dimensional arrays of Josephson junctions. The analysis neglects quantum, thermal, and inductive effects, but allows disordered junctions, arbitrary network connectivity, and arbitrary spatial patterns of applied magnetic flux and de current injection. We prove that a pinned state is linearly stable if and only if its corresponding stiffness matrix is positive definite. This algebraic condition can be used to predict the critical current and frustration at which depinning occurs.