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pstree is useful tool, but it is not a default application when you setup CentOS. So you will need to install it by yum.

You will be able to use pstree after running below:

sudo yum -y install psmisc

Below is an exmple of pstree

# pstree
        |      `-193*[{java}]
        |        |-bounce
        |        |-cleanup
        |        |-pickup
        |        |-qmgr
        |        |-smtp
        |        `-trivial-rewrite