Set Up: This assumes that you already have your project set up using Maven, Nexus. You need Nexus or any other repository management system to store artifact of jar or CQ package zip artifact you need to use in your project.
Assumption: You are using "content-package-maven-plugin" to create CQ package. More information about this artifact can be found here
For jar file it is simply adding it to your embed statement and for zip file you could use subPackages configuration. Once you will run maven install with this configuration, Other project package will also get installed with your package. Same works for uninstall of package as well. Geometrixx all package uses similar approach.
your final pom will look like this,