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[skipping a lot of lines ...]
This is why a minimum of 3 shared-nothing physical machines is
recommended. Basically
num-shards * 3 = minimum-number-of-nodes i.e.
2 * 3 = 6 in your case
The only reason to have less than 3 members (one primary and two
secondaries) in a replica set is if you had very
strict/odd/unusual/unhealthy/<you name it> constrains on disk space, but
then again, less than 3 members is not recommended (see "Saving Disk
Space" in the link below)
http://www.markus-gattol.name/ws/mongodb.html#do_i_need_an_arbiter