Referring to this example:
http://vallandingham.me/stepper_steps.html
it seems that the D3 and jQuery libraries are very similar in the sense that they both do D
d3 is made for data visualization, it does this by filtering through DOM objects and applying transformations.
jQuery is made for DOM manipulation and making life easier for many basic JS tasks.
If you're looking to turn data into pretty, interactive pictures, D3 is awesome.
If you're looking to move, manipulate or otherwise modify your webpage, jQuery is your tool.