Whales would have gone extinct rather quickly if so. But despite the modern tendency to hold killer whales up as some kind of unstoppable super-predator, other whales have evolved several defensive measures, which work to different extents, but the fact that whales do have scars from killer whale attacks is proof enough that they can and do escape. As a general rule, size does matter, and young and weak whales are far more likely to be killed than adult, healthy whales.
There are two main options: flight or fight, which represent different tradeoffs. For speedy prey, it may be energetically wasteful to chase after it. For aggressive prey, the risk of injury may not be worth it.
Rorquals like the fin whale (below) represent flight. They evolved for speed. They may not be able to outrun killer whales, who are fast enough to outpace Dall's porpoises, but they can present the killer with an undesirable amount of effort to expend. However, those whales then have little ability to defend themselves if caught.
If escape is out of the question, then the whale can and does fight back. Sometimes whales turn belly up to protect their vulnerable flippers and undersides. The tail itself is a powerful weapon (more on that below). There's at least one account from 1866 where a bowhead whale was seen smashing its flukes on a killer whale's head, apparently killing it.
Whales that fight back tend to be more robust, more maneuverable, and often have encrustations of barnacles on their bodies, like on this grey whale below. The barnacles on them act both as armor and as sharp edges that can cause injury.
I know that the original post said baleen whales, but sperm whales have to be mentioned as they're big bags o' blubber too. They're big, they have teeth and strong tails, and live in pods of their own. Males alone are probably too dangerous for even a pod of killer whales.
Remember when I mentioned the tails? A pod of sperm whales will adopt the "marguerite formation" when under attack. This puts the vulnerable member in the center, surrounded by a wall of tails.
Finally, special mention has to go to the humpback whale. A rorqual (normally a flight species), it has evolved to fight instead. They use their tails and long, barnacle-encrusted flippers to defend themselves, and group together when under attack. The combination of tail and sharp-edged flippers provides the humpback with protection front and back.
And it gets better. Humpbacks will go out of their way to mob killer whales, even interfering in killer whale attacks on other marine mammals and driving them off. Adult humpbacks, with their natural weaponry and great size, are probably the only animals that deliberately engage with and drive off killer whales with impunity, with sightings of even single humpbacks approaching 10+ killers fearlessly.
What I'm trying to say is that Cassie totally would have kicked David's ass in humpback whale morph.
All images from Wikipedia.
Ford, J. K., & Reeves, R. R. (2008). Fight or flight: antipredator strategies of baleen whales. Mammal Review, 38(1), 50-86.
Jefferson, T. A., Stacey, P. J., & Baird, R. W. (1991). A review of killer whale interactions with other marine mammals: predation to co‐existence. Mammal Review, 21(4), 151-180.
Pitman, R. L., Deecke, V. B., Gabriele, C. M., Srinivasan, M., Black, N., Denkinger, J., ... & Ternullo, R. (2017). Humpback whales interfering when mammal‐eating killer whales attack other species: Mobbing behavior and interspecific altruism?. Marine Mammal Science, 33(1), 7-58.