It depends upon the structure of the operating system. For any modern operating system the kernel is invoked through exceptions or interrupts. The operating system "monitors" processes during interrupts. An operating system schedules timer interrupts. When the timer goes off the interrupt handler determines whether it needs to switch to a different process.
Another OS management path is through exceptions. An application invokes the operating system through exceptions. An exception handler can also cause the operating system to switch to another process. If a process invokes a read and wait system service, that exception handler will certainly switch to a new process.
In ye olde days, it was common for multi-processors to have one processor that was the dedicated master and was the only processor to handle certain tasks. Now, all normal operating systems use symmetric multi-processing where any processor can handle any task.