How to get a list of restricted_components with it's related information?
Playing with LEFT + INNER You can change logic of SQL query

If You need all from restricted_component - LEFT JOIN
But because groups must be for all - INNER

SELECT
  `rc`.*,
  `rs`.resources_name,
  `gr`.`groups_name`
FROM `restricted_components` AS `rc`
  LEFT JOIN `resources` AS `rs` ON rc.resources_id = rs.resources_id
  INNER JOIN `acl_groups_to_resources` AS `acl_gr` ON rs.resources_id = acl_gr.resources_id
  INNER JOIN `groups` AS `gr` ON acl_gr.groups_id = gr.groups_id
ORDER BY component_id


result from Your dataset 

1   1   button_1    button_1        1   Users   Administrators
1   1   button_1    button_1        1   Users   User Admins
2   2   button_2            0   Companies   Administrators
3   3   button_3            0   Hardware    Administrators
4   4   button_4            0   Reports Administrators
4   4   button_4            0   Reports Reports Admin
5   5   button_5            0   Notifications   Administrators
5   5   button_5            0   Notifications   Company Admins