Quoted: Crucifixion was done on a "cross," as in an upright timber with a cross peice. Could be a "T" or a conventional cross, but either way, there were two intersecting pieces of wood. Having the arms extended on the cross beam is essential to the process. It's being hung up like that that makes breathing difficult and hastens death.
I think that perhaps what you're referring to is the claim that the condemned only carried the horozontal portion of the cross--the cross beam--which was then affixed to the vertical portion at the place of execution. That is the position taken in the Oxford Classical Dictionary, among other sources. The crucifixion itself, however, was carried out on an actual "cross."
ETA: However, the Greek work for cross, as in the instrument of execution, is (transliterated) Stauros, which also means an upright stake. All the historical and archeological evidence I've ever seen indicates that the "cross" is a real cross, not just a stake.
ETA: Jehovah's Witnesses are proponents of the stake theory. You can read a critique of the JW position here.
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Very good explanation regarding crucifiction.
Yes, the person was nailed to a literal cross for crucifiction. Nails were put through the feet, hands, and often through the wrists too because the nails through the hands could tear through more easily.
The position created considerable agony. The position of the arms, as JohnTheTexican mentioned, made breathing more difficult. To take the stress off of the lungs, the crucified would have to "stand" up on his/her nailed feet (ouch). So there was really no relief to be had. It could take several excrutiating hours, if not longer, for a person to die in this manner.
To hasten death the Romans would break the legs of the crucified after a few hours. This would hasten the suffocating effects.
In Jesus' case, the Romans needed the three crucified individuals on Golgatha to die relatively quickly because of the upcoming Jewish holy day. The Romans went to each person and broke their legs. When they reached Jesus the Romans noted that he already looked dead, so they pierced his side with a spear to check. As blood flowed out of Jesus it had already "settled" into it's plasma and cell portions, evidence of death. Thus, the Romans didn't break Jesus' legs which actually fulfilled prophesy.