I've read the Wikipedia article on concatenative languages, and I am now more confused than I was when I started. :-)
What is a concatenative language in stupid people terms?
To your simple question, here's a subjective and argumentative answer.
I looked at the article and several related web pages. The web pages say themselves that there isn't a real theory, so it's no wonder that people are having a hard time coming up with a precise and understandable definition. I would say that at present, it is not useful to classify languages as "concatenative" or "not concatenative".
To me it looks like a term that gives Manfred von Thun a place to hang his hat but may not be useful for other programmers.
While PostScript and Forth are worth studying, I don't see anything terribly new or interesting in Manfred von Thun's Joy programming language. Indeed, if you read Chris Okasaki's paper on Techniques for Embedding Postfix Languages in Haskell you can try out all this stuff in a setting that, relative to Joy, is totally mainstream.
So my answer is there's no simple explanation because there's no mature theory underlying the idea of a concatenative language. (As Einstein and Feynman said, if you can't explain your idea to a college freshman, you don't really understand it.) I'll go further and say although studying some of these languages, like Forth and PostScript, is an excellent use of time, trying to figure out exactly what people mean when they say "concatenative" is probably a waste of your time.