You are looking for a feature for keeping the same file version in multiple places, also known as file cloning or file sharing in other types of source control, like Sourcesafe or Vault. There is no mechanism like this in Mercurial. Every file is a single entity with a single location.
The first solution you have is to keep the common libraries in a separate place. You need a single copy that can be accessed by all your projects. It does not matter if you use sub-repos or not, they can all be in the same repo, as long as your folder structure includes everything, but sub-repos can be easier to manage if your projects are not related.
The other solutions you have could be to state an internal policy to always sync and commit the common libraries manually (which I do not suggest as it is error-prone and requires effort), or to create a script, either as hook or not, to sync your files, before a commit or after an update (which is more tedious to establish and maintain anyway)...
Conclusion, go for the separation of your common libraries. You'll be glad you spent the extra time to set everything up correctly from the start.