In your example, the word 'pending', does not describe the tasks in group A. It is a word which, helps explain their relationship to the tasks in group B.
Other words than 'pending' could have been used, e.g. 'awaiting'.
The verb 'pending' only exists in an active continuous form, in present, past and future continuous tenses. 'The letter is pending/ was pending/has been pending/ will be pending signature'.
I cannot think of how it might be used in any non-continuous sense, (e.g. I have never seen: 'it pended', 'it will pend', 'it has pended' etc.).
Now, 'Job A is pending the completion of Job B' is the same thing as saying 'Job A is awaiting the completion of Job B'. But even using the latter I cannot turn it around so that Job B becomes the subject. But I could use the adjective 'integral' and say 'The completion of Job B is integral to the completion of Job A.'But that is not a present continuous form, I do realise that.
But I am afraid that is the best I can do.
Edit. The problem you have can be expressed simply. 'Whilst Jim is waiting for Bill, what is Bill doing?' I suppose you could say 'he is keeping Jim waiting', but that would suggest he was late.