Import-Module Activedirectory
Get-ADGroup -F * | %{$name = $_.Name; $_ | Get-ADGroupMember -Recursive | Select @{N="Group";E={$name}},@{N="Member";E={$_.Samaccountname}},ObjectClass} | Export-csv C:\Groupreport.csv -nti
Result will have all groups and it's members in CSV format. If you want to filter the members or groups from result that also can be done..
Import-Module Activedirectory
Import-csv C:\input.csv | %{$name = $_.GroupName; Get-ADGroupMember $_.GroupName -Recursive | Select @{N="Group";E={$name}},@{N="Member";E={$_.Samaccountname}},ObjectClass} | Export-csv C:\Groupreport.csv -nti
GroupName
GroupA
GroupB
Import-Csv 'c:\filelocation\groups.cs