As a rule for all mongod instances you will likely need to supply a dbpath and a logpath, for any servers running on the same machine specifying a port can also be useful
For a replicaSet node (including an arbiter) you need to run mongod with the --replSet <setName> argument
You should also fine to run the arbiter on the same server as the config server from a load perspective.
Here is a simple example of commands I use to spin up a small test cluster of 9 replicaSet nodes, 3 config nodes and a mongos on my laptop:
mongod --replSet shard-a --dbpath /data/rs-a-1 --port 30000 --logpath /data/rs-a-1.log --fork
mongod --replSet shard-a --dbpath /data/rs-a-2 --port 30001 --logpath /data/rs-a-2.log --fork
mongod --replSet shard-a --dbpath /data/rs-a-3 --port 30002 --logpath /data/rs-a-3.log --fork
mongod --replSet shard-b --dbpath /data/rs-b-1 --port 30100 --logpath /data/rs-b-1.log --fork
mongod --replSet shard-b --dbpath /data/rs-b-2 --port 30101 --logpath /data/rs-b-2.log --fork
mongod --replSet shard-b --dbpath /data/rs-b-3 --port 30102 --logpath /data/rs-b-3.log --fork
mongod --replSet shard-c --dbpath /data/rs-c-1 --port 30200 --logpath /data/rs-c-1.log --fork
mongod --replSet shard-c --dbpath /data/rs-c-2 --port 30201 --logpath /data/rs-c-2.log --fork
mongod --replSet shard-c --dbpath /data/rs-c-3 --port 30202 --logpath /data/rs-c-3.log --fork
mongod --configsvr --dbpath /data/config-1 --port 27019 --logpath /data/config-1.log --fork
mongod --configsvr --dbpath /data/config-2 --port 27020 --logpath /data/config-2.log --fork
mongod --configsvr --dbpath /data/config-3 --port 27021 --logpath /data/config-3.log --fork
mongos --configdb foo:27019, foo:27020, foo:27021 --logpath /data/mongos.log --fork --port 40000