Send a SIGTERM or a SIGKILL to it:
http://en.wikipedia.org/wiki/SIGKILL
http://en.wikipedia.org/wiki/SIGTERM
SIGTERM is polite and lets the process clean up before it goes, whereas, SIGKILL is for when it won't listen >:)
Example from the shell (man page: http://unixhelp.ed.ac.uk/CGI/man-cgi?kill )
kill -9 pid
In C, you can do the same thing using the kill syscall:
kill(pid, SIGKILL);
See the following man page: http://linux.die.net/man/2/kill