Reference https://stackoverflow.com/a/34407620/13287790
$ printf %s 'encode this'|jq -sRr @uri
encode%20this
$ jq -rn --arg x 'encode this' '$x|@uri'
encode%20this
-r (--raw-output) outputs the raw contents of strings instead of JSON string literals. -n (--null-input) doesn't read input from STDIN.
-R (--raw-input) treats input lines as strings instead of parsing them as JSON, and -sR (--slurp --raw-input) reads the input into a single string. You can replace -sRr with -Rr if your input only contains a single line, or if you don't want to replace linefeeds with %0A: