I am not exactly sure what put in sidebarPanel 2 but ... I have this in my ui.R file:
tags$head(
tags$style(type="text/css", "label.radio { display: inline-block; }", ".radio input[type=\"radio\"] { float: none; }"),
tags$style(type="text/css", "select { max-width: 200px; }"),
tags$style(type="text/css", "textarea { max-width: 185px; }"),
tags$style(type="text/css", ".jslider { max-width: 200px; }"),
tags$style(type='text/css', ".well { padding: 12px; margin-bottom: 5px; max-width: 280px; }"),
tags$style(type='text/css', ".span4 { max-width: 280px; }")
),
...
Play around with the numbers and see if you get what you are looking for.
If you come up with a nice, clean, version of Ramnath's suggestion please do share on the board.