You can approach this in two ways, depending on how you want to do it. You can set your Category class to have a Collection of Articles. Then to get all of the articles in the category you simply load the Category by id and then call getArticles().
Alternatively, you give the Article a collection of Categories that it belongs to. It all depends on your domain model. Can an article be in multiple categories?
Once you've decided that, take a look at the Hibernate documentation on mapping Collections: http://docs.jboss.org/hibernate/stable/core/reference/en/html_single/#collections
Then your query would look something like the following:
select a from Article a join a.categories c where c.categoryID = :yourCategoryId