In an Australian context, a pastoralist is a farmer who runs sheep or cattle on the low rainfall pastoral zone lands. Usually these properties are large in size due to their reliance on natural rainfall, which is usually less than 300mm annually.
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Nomadic means that someone moves around seasonally to find good farming ground etc - they don't have a fixed home. Pastoralists are those who's main 'job' is farming with animals e.g goats, sheep. Put them together and nomadic pastoralists are people who's main concern is raising farm animals and they move around a lot to find the best land and pasture.
Arabs survived on the Arabian Peninsula primarily as nomadic pastoralists, meaning that they raised sheep and goats and moved across the Arabian Peninsula in search of grass to graze. They would usually find increased greenery at one of the many oases on the Arabian Peninsula. Eventually, Arabs created cities that could effectively trade local wealth and products for foreign foodstuffs from breadbaskets like Mesopotamia or Egypt.