If you include jQuery and Underscore in your HTML, they will be globally available. There is no need to "inject" them.
<script src="//ajax.googleapis.com/ajax/libs/jquery/1.10.1/jquery.min.js"></script>
<script src="//documentcloud.github.io/underscore/underscore-min.js"></script>
If you wanted to include them in a module, you could do something like this:
angular.module('myApp', []).
service('vendorService', ['$q', '$timeout', '$window', function($q, $timeout, $window){
var deferred = $q.defer(), libs = {};
$script([
'//ajax.googleapis.com/ajax/libs/jquery/1.10.1/jquery.min.js',
'//documentcloud.github.io/underscore/underscore-min.js'
], 'vendorBundle');
$script.ready('vendorBundle', function() {
libs.$ = $window.jQuery.noConflict();
libs._ = $window._.noConflict();
$timeout(function(){
deferred.resolve(libs);
}, 0);
});
this.getLibs = function(){
return deferred.promise;
}
}]).
controller('myController', ['$scope', 'vendorService', function($scope, vendorService){
vendorService.getLibs().then(function(libs){
$scope.jQueryVersion = libs.$.fn.jquery;
$scope._ = libs._;
});
}]);
Doing this will allow you to load the libraries asynchronously while keeping them from conflicting with previously loaded versions. There may be a better way to store references to the loaded libraries but this should work just fine.
Also, this example relies on a third party laoder ($script.js).
And here is a jsFiddle (http://jsfiddle.net/moderndegree/bzXGx/);