Using mysql:

$ mysql --user=genome --host=genome-mysql.cse.ucsc.edu -A -D go -e 'select acc,name from term where name in ("DNA replication","fatty-acyl-CoA binding")'
+------------+------------------------+
| acc        | name                   |
+------------+------------------------+
| GO:0006260 | DNA replication        |
| GO:0000062 | fatty-acyl-CoA binding |
+------------+------------------------+

Most software that does this type of annotation will be available in the output, what was used to generate these? Outside of that you can write a pretty simple script to parse the go OBO file. http://geneontology.org/page/download-ontology

using SPARQL:

PREFIX rdfs:<http://www.w3.org/2000/01/rdf-schema#>
SELECT DISTINCT ?go
WHERE {
    ?go rdfs:label "DNA replication"@en .
}

NB: depending on the version of GO that you are using, you may not need the '@en'

s-query --service=http://localhost:3030/go/query --output=text "SELECT DISTINCT ?go WHERE { ?go <http://www.w3.org/2000/01/rdf-schema#label> 'DNA replication'@en . }"

-------------------------------------------
| go                                      |
===========================================
| <http://purl.org/obo/owl/GO#GO_0006260> |
-------------------------------------------

This GeneSCF tool has a folder called 'annotation' where you can find plain text files with process and ids:

Gene Set Clustering based on Functional annotation (GeneSCF)

In R:

library(GO.db)

goterms= Term(GOTERM)

go_definition = merge(your_list_of_GOs, goterms, by.x = "category", by.y="row.names")

How to interpret the result of GO analysis using Ontologizer / mapping GO IDs to GO TERMS ?