As far as I know, opening an existing audio file and writing to it is not possible. What you can do is write the incoming data to a new file and merge it with the previous one (the one at the end of which you wanted to write the data). You can use below command to achieve that.
ffmpeg -i "concat:file1.mp3|file2.mp3" -acodec copy output.mp3
If you have a list of files to be merged together, run the below command
$ ffmpeg -f concat -safe 0 -i filelist.txt -c copy output.mp3
Note the list should be of following format
$ cat filelist.txt
file '/audio/001.mp3'
file '/audio/002.mp3'
file '/audio/003.mp3'
file '/audio/004.mp3'
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