What bash commands to use to correlate performance with processes?

I'm trying to use bash commands to see which the amount of CPU or disk resources are being used by which process or processes.

I know I can use "iostat" to see IO activity. But how can I associate the activity with specific process names or PIDs?

I know I can use "top" to see CPU activity, but I want to see which processes are using the CPU.

I know I can do "ps -elf" to see what commands are executables are being run or executed by which PID. But I don't know how to associate the command or PID with output from "iostat".