A Many-to-many Relational Problem

My question:
How to have an unknown number of authors returned for a list of books, with the multiple authors being returned on the SAME row as each book

My table structure:

Table A - Books
-------------------
BookID | BookName
-------------------
1 | Book One

Table B -
RelatingTable
-------------------
BookID | AuthorID
-------------------
1 | 60
1 | 61

Table C - Authors
-------------------
AuthorID | AuthorName
-------------------
60 | Bob
61 | Joe


My query:

SELECT * FROM Books, RelatingTable, Authors AS a
INNER JOIN Books AS b ON b.BookID = r.BookID
INNER JOIN RelatedTable AS r ON r.AuthorID = a.AuthorID


Output I am getting:

-------------------------------------------------------------------------
b.BookID | b.BookName | r.BookID | r.AuthorID | a.AuthorID | a.AuthorName
---------|------------|----------|------------|------------|-------------
1 | Book One | 1 | 60 | 60 | Bob
1 | Book One | 1 | 61 | 61 | Joe
-------------------------------------------------------------------------


Desired output:

-----------------------------------------------------------------------------------------------------------------------------------------------------
b.BookID | b.BookName | r.BookID[0] | r.AuthorID[0] | a.AuthorID[0] | a.AuthorName[0] | r.BookID[1] | r.AuthorID[1] | a.AuthorID[1] | a.AuthorName[1]
---------|------------|-------------|---------------|---------------|-----------------|-------------|---------------|---------------|----------------
1 | Book One | 1 | 60 | 60 | Bob | 1 | 61 | 61 | Joe
-----------------------------------------------------------------------------------------------------------------------------------------------------


The desired output does not have to be like an array - I only assume thats what it would need to be

If you can post anything to help me get in the right direction I would really appreciate it
Thanks for your time!