How do you explain to your child about death?

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Right now it is hard because my Grandfather, my children's Great Grandfather is dying of 3 different types of cancer. He was diagnosed with this about 3 weeks ago or so and once he seen the doctor again they then gave him just 2 months to live. However, my children have never dealt with death before other than our dog in which we had to put down and once we told them my oldest (8 yrs old) cried so hard and just sat there and hurt me so very much so I then grabbed her and we cried together and then my youngest daughter (6 yrs old) was unsure about it and did not hit her until the next day and she was confused about not being able to see him ever again, that was so very hard to tell them. Now, their Great Grandfather is going to die and I do wish I could just snap my fingers and wish it to be gone and for him to not have to suffer the way he is and I don't tell my children on how he is suffering but I did "try" and explain to them about cancer and that he is going to go to heaven and that we are trying to go and see him, they are not understanding it completely and I don't expect them to, but how do you explain to them once he does pass on? My greatest fear is death and knowing this is happening I am literally scared sh*tless and to see my children go through this at such a young age is SO very hard. Have you ever been through this with your children and how did you cope with it with your children? Thanks in advance -Lora