Connecting 2 terminals (like Arduino's) via jumper wires does not secure the wires properly. What do you use to ensure the wires do not come loose?
Connecting Arduino to the pins at the bottom right of:
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Using a prototyping daughterboard†, you use screw connectors to hold jump-wires firmly in place. The daughterboard† itself won't fall off easily because it has a large number of pins in the arduino header sockets.
There are many designs, pick one that suits your project best.
Using an ordinary prototyping daughterboard† you can solder wires on the shield, later you can remove the daughterboard† and re-use the Arduino for another project without needing to remove any solder.
If you are using something other than an Arduino you can almost certainly either buy something similar or make one for yourself.
†"shield" / "wing" / "cape" are cute ecosystem-specific names for what is generically called a daughterboard.
Arduino in its basic form is meant to be used for prototyping. You will need to design a shield for a permanent and reversible solution.
The shield does not have to be a fancy PCB designed at a European board house. A simple shield can be made from a perf board and some header pins. See here for an example: http://www.instructables.com/id/Design-a-simple-arduino-shield/
I usually have a small piece of wood or something that can be screwed in and out. then i make a bend in the jumper, stick it into the socket, and hold it down on the wood while putting some hot glue on the wire at the wood part. that is a cheap way to keep the tension on something. dont't hot glue over the socket, just a half inch down, after the bend in the wire. then you can just rip the hot glue off later, and if gets too messy with glue, you can get another piece of wood and unscrew the old one. that kind of thing. hot glue is your friend. cheap. extremely quick curing.
otherwise, there is a whole field of connector science, vibration resistant, locking, blah blah.