select
(select Name from table2 where id=a.a_id) aName,
(select Name from table2 where id=a.b_id) bName,
(select Name from table2 where id=a.c_id) cName
from table1 a
(select Name from table2 where id=a.a_id) aName,
(select Name from table2 where id=a.b_id) bName,
(select Name from table2 where id=a.c_id) cName
from table1 a
select b.name, c.name, d.name
from table1 a inner join table2 b
on a.a_id = b1.id
inner join table2 c
on a.b_id = c.id
inner join table2 d
on a.c_id = d.id