A bit of an expansion on the previous answer:
Use System Preferences to link a keyboard shortcut to the “Task Manager” menu command (System Preferences > Keyboard > Shortcuts > App Shortcuts), since the Shift + Esc shortcut doesn’t apply to Macs (at least not as of writing this post).
After that, you can use that keyboard shortcut in Chrome to pull up the Task Manager, where you can choose the unresponsive tab and select End Process.