To ensure the JS library will be loaded with your component, you need to include it in your component's view.
Something like this in your view.html.php or the template file should work:
Note that this will include jQuery in noConflict Mode. It also ensures that the framework will be loaded only once.
To load jQuery in Normal mode, use:
You want your js loaded on the view part of your component, so this is the place to add it. So after including any required frameworks, you also include any other js and css on the view.
To add to this, and depending on how you like to do things or if there is any other reason, you could create a helper file with your own class and methods, that on call, it will decide what js/css files to add, based on each condition.
You can also consider to use the media folder as the location of your js/css.
<?php $doc = JFactory::getDocument();
Joomla: Adding JS - Documentation