Really you should be using a join if you are using a key from one table to another, but to follow what you have now you could do something like the following:
select main.column as main, group_concat(other.column) as other from main, other where main.id=other.id group by main.column;
which would return something like the following:
+------+--------------------------+
| main | other |
+------+--------------------------+
| fruit | apple,pear,lemon |
| meat | cow,pig |
+------+--------------------------+
you could then use <?php explode(',' , $result[other]) ?> to turn it into an array for however you want to use it.
best of luck!