The existing answers explain the problem well but if including your script files using or before requireJS is not an easy option due to legacy code a slightly hacky workaround is to remove require from the window scope before your script tag and then reinstate it afterwords. In our project this is wrapped behind a server-side function call but effectively the browser sees the following:
<script>
window.__define = window.define;
window.__require = window.require;
window.define = undefined;
window.require = undefined;
</script>
<script src="your-script-file.js"></script>
<script>
window.define = window.__define;
window.require = window.__require;
window.__define = undefined;
window.__require = undefined;
</script>
Not the neatest but seems to work and has saved a lot of refractoring.