You need a tripod, and the right term, I believe, is stroboscopic flash. You can set the frequency (in Hz) and power of each flash. This allows you to open your shutter for an extended period while the action is being performed in front of your set up. The flash should be the main source of light, and each flash will freeze a certain step in the action, thus the strobing effect will give you your multiple shots of action within the same exposure/frame.