ive never seen that happen where i couldnt kill the process with the task manager.
A minimum of once per week on my work XP-SP3 laptop, and nothing will kill it (because the process is no longer displaying in memory). Reboot is the only thing that resolves the issue. It's quite irritating, but a well-documented problem in Firefox that seems to get fixed then rebroken every couple updates. I haven't had it happen since 10.0.2 was released, but now that I've said that I fully expect it to happen later today.
Once work eventually approves Chrome, then I may try it here before switching at home. I've finally got Firefox configured just the way I like, so I'm reluctant to switch browsers for speed alone.