Add a script where you can refer to from anywhere in your WordPress installation using wp_enqueue_script or admin_enqueue_script.

First setup the hook, for example in your plugin.

add_action('wp_default_scripts', function(&$scripts) {
  // Arguments order: `$scripts->add( 'handle', 'url', 'dependencies', 'version', 'in_footer' );`
  // Set "in_footer" argument to 1 to output the script in the footer.
  $scripts->add('my-plugin-script', '/path/to/my-plugin-script.js', array('jquery'), 'alpha', 1);
});

Now you can use the script from the plugin anywhere for example in your theme.

add_action('wp_enqueue_scripts', function () {
  wp_enqueue_script('my-theme-script', '/path/to/my-plugin-script.js', array('my-plugin-script'), null, true);
});

Please make sure that you pick an identical string for the “handle” argument, a good practice is prefixing the handle name with your plugin or theme name.