Beyond minifying Javascript, you can often refactor or rewrite procedures with less code to accomplish the same thing (see http://www.refactoring.com). Remember to measure first, then optimize. You can use a Javascript profiler to locate performance bottlenecks. Mozilla's Venkman Javascript Debugger can profile Javascript code.
Loop optimizations such as unwinding can also help you to gain some cycles to increase your Javascript execution speed. Often, built-in functions perform faster than hand-crafted code. For advice on increasing execution speed and minifying Javascript, read Chapter 8, Ajax Optimization, of Website Optimization. Finally, combine and compress external Javascript files to save HTTP requests and bandwidth where possible.
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