You just need to make your query using a tHiveInput component to retrieve the Id's and then you've got two options, the easy way or the hard (and better) way:
For the easy way you can then run from the tHiveInput component to a tFlowToIterate and then iterate out to a tMySqlInput component. Your query in the tMySqlInput component would then look something like:
"SELECT a, b, c
FROM x
WHERE id = '" + ((Integer)globalMap.get("row1.id")) + "'"
row1 here represents the row running into your tFlowToIterate. You can also get this variable by hitting ctrl+space and selecting the tFlowToIterate_x.id
option.
You could then connect a tBufferOutput component to your tMySqlInput component to collect all of the iterations and then read it back in with a tBufferInput component for further processing.
This is obviously a simple concatenation that is then not the best way for efficiency and of course open to SQL injection. But it's a rough and ready way.
Your other (harder but potentially better) option is to use a parameterised query using a tMySqlRow component (not currently supported in the tMySqlInput component as of Talend 5.4).
This answer goes into some detail about parameterised queries in Talend as part of a solution to another problem (upserting efficiently). As mentioned in that answer, there's more detail on parameterised queries on Gabriele Baldassarre's blog.