Hint: $X$ is an annulus, and $Y$ is a cylinder. Imagine "flattening" a cylinder by forcing its bottom edge inwards and its top edge outwards; it will eventually become an annulus. This is the idea of the map; you should work out the actual expressions describing it on your own.
Here is a gif animation I made with Mathematica to illustrate the idea:

F[R_][t_, x_, y_] := {(R + x) Cos[t], (R + x) Sin[t], y}
BentCylinder[R_, r_, s_, t_, z_] := F[R][t, r + s*Sin[z], s*Cos[z]]
BendingCylinder[R_, r_, z_] :=
ParametricPlot3D[
BentCylinder[R, r, s, t, z], {s, -r, r}, {t, 0, 2 Pi}, Mesh -> None,
Boxed -> False, Axes -> None, PlotStyle -> Red,
PlotRange -> {{-10, 10}, {-10, 10}, {-5, 5}}, PlotPoints -> 50]
Export["animation.gif",
Table[BendingCylinder[6, 2, z], {z, 0, Pi/2, 0.02*Pi}],
"DisplayDurations" -> {0.25}]