Separating names separated by "| character" to individual pairs

I want to separate the names in the same line into separate individual pairs.

TMPRSS2|pp9284 AADAT
ERG    TMPRSS2|pp9284
TMPRSS2|pp9284 ETV1
PDE4A   MIA|MIA-RAB4B|RAB4B|RAB4B-EGLN2|EGLN2

This should be

TMPRSS2 AADAT
pp9284 AADAT
ERG    TMPRSS2
ERG  pp9284
TMPRSS2 ETV1
pp9284 ETV1
PDE4A MIA
PDE4A MIA-RAB4B
PDE4A RAB4B
PDE4A RAB4B-EGLN2
PDE4A EGLN2

The multiple names are in both the columns so I want individual pairs.I have tried mysql for this as after I have individual pairs I want to compare it with a another table. strsplit in R only works well when the multiple names are in a fixed number.but they vary in each line. Can I do this using sed,awk?