The simplest answer is because it is more stable that way. Atoms in molecules generally want to form an outside layer of 8 electrons (or 2 for hydrogen, since there are only 2). Although it’s a different process, this is the same idea behind Na giving an electron to Cl to form Na+ and Cl- that bond.
H has 1 outer electron and bonds covalently with another H, so they share 2 electrons, which they like.
N has 5 outer electrons and forms a triple bond with another N, so they share 8 outer electrons, which they like.
O has 6 outer electrons and forms a double bond with another O, so they share 8 outer electrons, which they like.
The remaining elements that bond like this (F, Cl, Br, and I) have 7 outer electrons and form a single bond with a similar element, so they share 8 outer electrons, which they like.
The 7 elements that form these diatomic elements are H, N, O, F, Cl, Br, and I. Sometime a mnemonic like “Mr. BrINClHOF” is used. I’ve also hear “Hydrogen and the 7” because there are 7 total; other than hydrogen, it starts with element #7, N; and the shape of the elements other than H looks like a 7 on the periodic table.
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