We have an atmosphere because the gravitational attraction of the earth keeps it there. That means that gravity is working within the limit of the atmosphere and anything in the atmosphere stays in place only because the force of gravity is not sufficiently strong to attract it to the earth.
However, there are assumptions here. Balloons for example, "float" in the atmosphere and stay aloft. This means that there is some force counteracting the gravitational force that would otherwise pull it down towards the surface of the earth. The force keeping the ballon in the air is called the bouyant force. In the balloon molecules of air warmer than the surrounding air it is floating in are pressing the balloon in an upward direction. Enough air pressing upward counteracts the force of gravity pulling down. When the these two forces are equal the balloon floats at the same altitude.
Without adding a force to counteract the force of gravity every object in the atmosphere would come crashing to earth. When you escape the earth's gravitational force, you have reached beyond the atmosphere, anything short of reaching that distance will be pulled down.
So, theoretically, the only thing that could potentially orbit around the earth, within the confines of its atmosphere would necessarily have to be lighter than air and sufficiently far away from the center of earth to escape the pull of gravity. To date, only molecules of air are able to pull off this feat and anything else would be pulled to earth over time.
If you wanted to get technical, you could argue that dust can orbit the earth, but it would be tough to say it was a regular motion around the earth because the dust would be subject to other forces, like the friction of air, and collisions with other dust particles that would cause it to lose a orbiting path.