Given that f is twice differentiable on $[a,b]$, prove that there exists $\xi \in (a,b)$ such that $$f(a)-2f\left(\frac{a+b}{2}\right)+f(b)=\frac{1}{4}(b-a)^2f''(\xi) .$$
This problem was given in a book and the hint was to consider the following auxiliary function, and apply Rolle's Theorem:
$$F(t) = f(t) +f(a) -2f\left(\frac{t+a}{2}\right) - \lambda\cdot\frac{(t-a)^2}{4}$$ Where $$\lambda = \frac{f(a)+f(b)-2f\left(\displaystyle\frac{a+b}{2}\right)}{\displaystyle\frac{(b-a)^2}{4}}.$$
I tried and got stuck.
My attempt:
Notice that $F(a) = F(b) = 0$, by Rolle's Theorem, there exists $\xi_1 \in (a,b)$ such that $F'(\xi_1)=0$.
After differentiation, we obtain $$F'(t) = f'(t)-f'\left(\displaystyle\frac{t+a}{2}\right)-\lambda\cdot\displaystyle\frac{t-a}{2}$$
We find that $F'(a) = 0$, thus applying Rolle's Theorem again, there exists $\xi_2 \in (a,\xi_1)$ such that $F''(\xi_2) = 0$
Therefore $$0=f''(\xi_2)-\frac{1}{2}f''\left(\frac{\xi_2+a}{2}\right) - \frac{\lambda}{2}$$
and
$$\lambda = 2f''(\xi_2) - f''\left(\frac{\xi_2+a}{2}\right).$$
I got stuck here and was unable to proceed. I did consider using Darboux's Theorem but I don't think that it is applicable here.