Well because you're using MySQL, which has pitiful referential integrity support, you can't use standard SQL to delete the related records.
However, I believe that in recent versions of MySQL you can actually delete from more than one table in a go:
delete from adsf,asdf,adsf where blah=blah;
Sort of thing. I'm not sure tho, I may be misremembering.
However, I suggest you switch to something like Postgres where you can create a foreign key between the tables where upon deleting the parent row, all child rows are automatically deleted.
Chris