Here is a detailed write-up of the solution sketched in @darijgrinberg 's comment.
Summary of solution: the problem can be restated as saying that the $a_i$'s
are the coordinates of $P(x)=c-x$ in a certain basis. So we only need to compute the
coordinates of $1$ and $x$ in this basis to obtain the $a_i$ in terms of $c$.
Detailed solution : let $\beta_{d,k}(x)=\prod_{j=k}^{d+k-1}(x+j)$ (so that $P=\sum_{k=0}^d a_k\beta_{d,k}(x)$) and ${\cal B}_d=(\beta_{d,0},\beta_{d,1},\ldots,\beta_{d,d})$.
Lemma 1. ${\cal B}_d$ forms a basis of ${\mathbb R}_d[x]$, the space of polynomials of degree $\leq d$.
Proof of lemma 1. It will suffice to show that the members of ${\cal B}_d$ are linearly independent. So suppose that $\sum_{k=0}^d \lambda_k \beta_{d,k}=0$
for some scalars $\lambda_0,\lambda_1,\ldots,\lambda_k$. Evaluating at $-d$, we see that $\lambda_0=0$. Next, evaluating at $-(d+1)$, we see that $\lambda_1=0$, etc.
Our goal is now to compute the coordinates of $1$ and $x$ in the basis ${\cal B}_d$. The idea is to iterate the difference operator $\Delta$ defined by $\Delta(Q)=Q(x+1)-Q(x)$ for a polynomial $Q$. We will use two well-known facts on $\Delta^{i}(Q)$ which are straightforward to check by induction on $i$ once stated.
Fact 1. $\Delta^{i}(Q)=\sum_{k=0}^{i}(-1)^{i-k}\binom{i}{k}Q(x+k)$.
Fact 2. If the two leading monomials of $Q$ are $ax^d+bx^{d-1}$ and $i\leq d-1$, then the two leading monomials of $\Delta^i(Q)$ are $(i!\binom{d}{i}a)x^{d-i}+(\frac{i}{2}(i+1)!\binom{d}{i+1}a+i!\binom{d-1}{i}b)x^{d-i-1}$.
Combining the two facts for $i=d$, we deduce
$$
(d!)a=\Delta^d(Q)=\sum_{k=0}^{d}(-1)^{d-k}\binom{d}{k}Q(x+k). \label{1}\tag{1}
$$
And for $i=d-1$, we deduce similarly
\begin{align}
&((d!)a)x+\bigg(\frac{d-1}{2}d!a+(d-1)!b\bigg)=\Delta^{d-1}(Q) \\
&=
\sum_{k=0}^{d-1}(-1)^{d-1-k}\binom{d-1}{k}Q(x+k). \label{2}\tag{2}
\end{align}
Notice that in the LHS of \eqref{2}, the constant term can be rewritten
as $(d!)a \times \rho$ where $\rho=\frac{d-1}{2}+\frac{b}{da}$. Subtracting $\rho$ times \eqref{1} from \eqref{2}, we deduce :
\begin{align}
((d!)a)x= \sum_{k=0}^{d}(-1)^{d-1-k}\bigg(\binom{d-1}{k}+\rho\binom{d}{k}\bigg)Q(x+k) \label{3}\tag{3}
\end{align}
(since $\dbinom{d-1}{d}=0$). We now apply this context to $Q=\beta_{d,0}$. Then we have $a=1,b=\frac{d(d-1)}{2}$ and hence $\rho=d-1$, so that \eqref{1} becomes
$$
1=\frac{(-1)^d}{d!} \sum_{k=0}^{d}(-1)^k \binom{d}{k}\beta_{d,k} \label{1'}\tag{1'}
$$
and \eqref{3} becomes
$$
x= \sum_{k=0}^{d}\frac{(-1)^{d-1-k}}{d!}\bigg(\binom{d-1}{k}+(d-1)\binom{d}{k}\bigg)\beta_{d,k} \label{3'}\tag{3'}
$$
Note that $\binom{d-1}{k}+(d-1)\binom{d}{k}=\big(d-\frac{k}{d}\big)\binom{d}{k}$, so that \eqref{3'} simplifies to
$$
x=\frac{(-1)^d}{d!}\sum_{k=0}^{d}(-1)^{k+1}\big(d-\frac{k}{d}\big)\binom{d}{k}\beta_{d,k} \label{3''}\tag{3''}
$$
Combining \eqref{1'} and \eqref{3''}, we deduce
$$
a_k=\frac{(-1)^d}{d!}(-1)^{k}\binom{d}{k}\bigg(c-\big(\frac{k}{d}-d\big)\bigg) \ (0\leq k\leq d) \label{4}\tag{4}
$$
and your claim immediately follows.