 Solution

An $A$-module $M$ is a flat module when the tensor functor $-{\otimes }_{A}M$ preserves injections, equivalently when it is exact.

Suppose first that $M$ is flat. For any nonzero $a\in A$, tensor the injection $A\stackrel{a}{\to }A$ with $M$. The resulting map $M\stackrel{a}{\to }M$ is injective, so $am=0$ implies $m=0$. Thus $M$ is a torsion-free module.

Conversely, suppose $M$ is torsion-free over the principal ideal domain $A$. Every finitely generated submodule of $M$ is a finitely generated torsion-free module over a PID, hence a finite free module and therefore flat. The module $M$ is the filtered colimit of these submodules. Tensor products commute with filtered colimits, and filtered colimits of modules preserve exact sequences, so $M$ is flat. This proves that a torsion-free module over a principal ideal domain is flat.