The command pstree produces a list of processes in the form of a tree:
$ pstree
init-+-atd
|-3*[automount]
|-bdflush
|-cron
[...]
|-usb-storage-1
|-usb-storage-2
|-10*[xterm---zsh]
|-xterm---zsh---mutt
|-2*[xterm---su---zsh]
|-xterm---zsh---ssh
|-xterm---zsh---pstree
|-ypbind---ypbind---2*[ypbind]
`-zsh---startx---xinit4-+-X
`-ctwm-+-xclock
|-xload
`-xosview.bin
The parameter -p adds the process ID to a given name. To have the command lines displayed as well, use the -a parameter:
$ pstree -pa
init,1
|-atd,1255
[...]
`-zsh,1404
`-startx,1407 /usr/X11R6/bin/startx
`-xinit4,1419 /suse/jj/.xinitrc [...]
|-X,1426 :0 -auth /suse/jj/.Xauthority
`-ctwm,1440
|-xclock,1449 -d -geometry -0+0 -bg grey
|-xload,1450 -scale 2
`-xosview.bin,1451 +net -bat +net