Let me show you one example 
import apache_beam as beam
def categorize_explode(text):
  result = text.split(':')
  category = result[0]
  elements = result[1].split(',')
  return list(map(lambda x: (category, x), elements))
with beam.Pipeline() as pipeline:
  things = (
      pipeline
      | 'Categories and Elements' >> beam.Create(["Vehicles:Car,Jeep,Truck,BUS,AIRPLANE","FOOD:Burger,SANDWICH,ICECREAM,APPLE"])
      | 'Explode' >> beam.FlatMap(categorize_explode)
      | beam.Map(print)
  )
As you can see categorize_explode function splits the strings into categories and corresponding elements and returns iterator like [('Vehicles','Car'),('Vehicles','Jeep'),...]
FlatMap takes each element in this iterator and treats each element as a separate element in PCollection.
So the result would be:
('Vehicles', 'Car')
('Vehicles', 'Jeep')
('Vehicles', 'Truck')
('Vehicles', 'BUS')
('Vehicles', 'AIRPLANE')
('FOOD', 'Burger')
('FOOD', 'SANDWICH')
('FOOD', 'ICECREAM')
('FOOD', 'APPLE')
While Map performs one to one mapping. i.e. this iterator [('Vehicles','Car'),('Vehicles','Jeep'),...] would be returned as it is.
So the result would be for Map:
[('Vehicles', 'Car'), ('Vehicles', 'Jeep'), ('Vehicles', 'Truck'), ('Vehicles', 'BUS'), ('Vehicles', 'AIRPLANE')]
[('FOOD', 'Burger'), ('FOOD', 'SANDWICH'), ('FOOD', 'ICECREAM'), ('FOOD', 'APPLE')]
The approach I have used is somewhat similar to spark explode transform.
Hope this helps!!!