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Introduction to Linux - A Hands on Guide
This guide was created as an overview of the Linux Operating System, geared toward new users as an exploration tour and getting started guide, with exercises at the end of each chapter.
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Open a terminal window run the command ps ax find the PID number of the program you want to kill then issue the command kill "PID no" where PID no, is put the PID number so if the program has a PID number of 12345 the command would be kill 12345
Note: Some programs you would need to be root to kill.
Note that sometimes just using "kill <PID>" will not work if the program is really unresponsive. If it fails, try "kill -9 <PID>", which directly tells the kernel to just stop running the process. It's better to try the normal way first, though.