SQL Server 2012 :: Normalize Values From Column Split Using Tally Table?

I have a table that has the following structure:

EntryID int,
Categories varchar(200)

values look like:

541,'A,B,C'
345,'B,C'
234,'A,C'
657,'D,E'
435,'D'

what I want to do is extract the Categories column to a normalized separate table:

541,'A'
541,'B'
541,'C'
345,'B' ....

I found the split using the tally table useful to split one-by-one, but how can it be applied when you are referring to a table?