It is not the percentage of nodes that matters, but the percentage of total network hashing power. If 51% of the network's hashing power is mining on top of a block, then you could say the network considers all the transactions in that block to be valid, and accepted. Other nodes will continue to validate the transactions independently, but that is so they know whether or not to trust the blocks that the miners propagate. It allows them to be trustless.
So what happens when 51% of hashing power is mining on top of a block containing a transaction that 49% of the network consider to be invalid? This is what a hard fork is. It means the 49% will continue mining on what they consider to be the last valid block.
Is this hashing power gained by miners? How do we measure that? @Jestin – ShakibaZar – 2017-07-15T15:10:06.493
Hashing power is provided by miners. How much is on the network can be easily calculated from the current difficulty. Howe much each mining pool contributes and hire it's calculated is probably good material for another question. – Jestin – 2017-07-15T15:16:42.360