The use of a common library is one thing, but I think a lot of "getting" JavaScript is simply spending time writing it. Things that may seem esoteric will slowly become mundane. This is true of just about any language or framework.
Many of the idioms used in JavaScript, such as anonymous functions, literal syntax, etc. only seem strange when you are first exposed to them. I think the same rules for writing understandable C#/Java/C++/VB/etc. code apply to JavaScript - use variable names that have semantic meaning, write comments that help someone understand intent and acknowledge assumptions, be explicit, etc.
Now, if you are really asking "how can I make JavaScript understandable to someone that is not familiar with it?" you have another issue - JavaScript is JavaScript and developers just have to do the hard work of learning it before they can be proficient in it and become "at one" with it.
For example, this function may seem very strange to those that are not familiar with JavaScript, but for me (and I am certain many others) it isn't that hard to figure out:
// comments are not included *on purpose* for illustrating
// my point about the need for language knowledge
function copy(obj) {
return new (function(o) {
for(var property in o) {
if(o[property].constructor == Array) {
this[property] = [];
for(var i = 0; i < o[property].length; i++) {
this[property][i] = new arguments.callee(o[property][i]);
}
} else if(o[property].constructor == Object) {
this[property] = new arguments.callee(o[property]);
} else {
this[property] = o[property];
}
}
})(obj);
}
The fact that this function has a name helps the casual reader know what it does, but to really understand what it is doing, one has to have an understanding of why this function might be necessary, how JavaScript object properties can be referenced, what data types JavaScript supports, how constructor functions work, how anonymous functions work, etc. Only a decently deep knowledge of those things are going to help (or a library that has literally everything but the kitchen sink).
UPDATE: To those that say comments in the above sample would lend help to the developer attempting to understand it - obviously. Comments are useful and I think that is a given. The above sample code was meant to illustrate multiple JavaScript-specific idiosyncrasies that are only going to be understood by someone with deep enough knowledge about the language.
As I said in the comments on someone else's answer, my code, which I can completely understand based on my JavaScript knowledge, shouldn't need to be so commented that it becomes a substitute for language knowledge. I shouldn't have to explain, for example, where an anonymous function is or that I am using one in the above code as an anonymous constructor function and that it will alter the perceived standard behavior (to C# and Java devs) of the this
keyword, all things that are going to confuse lesser JavaScript developers.