Flink runner: submit job to a Flink-on-YARN cluster

As far as I understand, running Beam pipelines on a Flink cluster can be done in two ways:
* Run directly with a Flink runner, and specifying `--flinkMaster` pipeline option via, say, `mvn exec`.
* Produce a bundled JAR, and use `bin/flink` to submit the same pipeline.

These two ways are equivalent, and work well on a standalone Flink cluster.

Submitting to a Flink-on-YARN is more complicated. You can still produce a bundled JAR, and use `bin/flink -yid ` to submit such a job. However, that seems impossible with a Flink runner directly.

If so, we should add the ability to the Flink runner to submit a job to a Flink-on-YARN cluster directly.

Imported from Jira [BEAM-1631](https://issues.apache.org/jira/browse/BEAM-1631). Original Jira may contain additional context.
Reported by: davor.

Start by comparing the Flink runner path invoked through `mvn exec` and `--flinkMaster` with the existing `bin/flink -yid ` submission flow. Done means a Beam pipeline can submit directly through the Flink runner to a Flink-on-YARN cluster with behavior equivalent to bundled-JAR submission.

Written by the indexing model from the issue text.