Suppose the following rates:
r(0,2) = 0.05 is the 2 year rate starting today and ending in period 2
r(0,1) = 0.04 is the 1 year rate starting today and ending in period 1
F(1,2) = 0.06 is the 1 year rate starting in period 1 and ending in period 2
The arbitrage condition states the above rates will hold becuase the investor is indifferent between investing at the spot rate for 2 yrs at r(0,2)^2 or investing at the 1 yr spot rate at r(0,1)-=0.04 and rolling the investment over to the forward rate F(1,2) =0.06 (which was locked in at time 0.
We can see that this is true because: 1.05^2 = 1.04(1.06).
Note that F(1,2) actually equals 0.0601 but I rounded above.