How to put tooltip for an id dynamically using javascript? how to add jQuery plugin?

Question

I know how get tooltip from html tags, but what I need here is I got to generate tooltip dynamically.

Tell me how to add plug ins for this purpose...

I've code like this:

<div id = "MyID">ABC</div>

And after some operation I want to put tooltip to MYID like this:

$("#MyID").tooltip({
  content: "Awesome Tooltip!"
});

Throwing an error like this:

Uncaught TypeError: $(...).tooltip is not a function