“Offset position on scroll” JavaScript snippet

Basic simplifications

It's good to extract duplicated expressions to a local variable:

scrollPercent = (s / (d - c) * 18);
scrollPercent02 = (s / (d - c) * 14);      
scrollPercent03 = (s / (d - c) * 30);            
scrollPercent04 = (s / (d - c) * 4);

This is equivalent but shorter and safer:

var coef = s / (d - c);
scrollPercent01 = coef * 18;
scrollPercent02 = coef * 14;      
scrollPercent03 = coef * 30;            
scrollPercent04 = coef * 4;    

Similarly:

var position01 = -(scrollPercent * ($(document).width() - $stripe01.width()));
var position02 = -(scrollPercent02 * ($(document).width() - $stripe01.width()));
var position03 = -(scrollPercent03 * -($(document).width() - $stripe03.width()));      
var position04 = (scrollPercent04 * -($(document).width() - $stripe04.width()));

Extract the common $(document).width():

var width = $(document).width();
var position01 = -(scrollPercent * (width - $stripe01.width()));
var position02 = -(scrollPercent02 * (width - $stripe01.width()));
var position03 = -(scrollPercent03 * -(width - $stripe03.width()));      
var position04 = (scrollPercent04 * -(width - $stripe04.width()));      

Btw, the above statements look a bit confusing with the oddly placed negative signs. If I rearrange them, this should be equivalent:

var position01 = -(scrollPercent01 * (width - $stripe01.width()));
var position02 = -(scrollPercent02 * (width - $stripe01.width()));
var position03 =  (scrollPercent03 * (width - $stripe03.width()));      
var position04 = -(scrollPercent04 * (width - $stripe04.width()));      

Using arrays

To convert to using arrays to be able to process with a loop, you would need to create parallel arrays, each with the same number of elements. In this case 6, because that's the most diverse case you need to support. Something like this, but I'm not sure it's really any better or more readable than the original:

var $stripes = [
    $('.stripe-01'),
    $('.stripe-02'),
    $('.stripe-03'),
    $('.stripe-04'),
    $('.stripe-05'),
    $('.stripe-06')
];

$(window).scroll(function () {
    var s = $(this).scrollTop(),
        d = $(document).height(),
        c = $(this).height();

    var coef = s / (d - c);
    var scrollPercents = [
        coef * 18,
        coef * 14,
        coef * 30,
        coef * 4
    ];
    var positions = [
        - (scrollPercents[0] * (width - $stripes[0].width())),
        - (scrollPercents[1] * (width - $stripes[0].width())),
          (scrollPercents[2] * (width - $stripes[2].width())),
          (scrollPercents[2] * (width - $stripes[2].width())),
          (scrollPercents[2] * (width - $stripes[2].width())),
        - (scrollPercents[3] * (width - $stripes[3].width()))
    ];
    var layout_param = [
        'left',
        'left',
        'right',
        'right',
        'right',
        'left'
    ];

    for (var i = 0; i < $stripes.length; ++i) {
        $stripes[i].css({
            layout_param[i]: positions[i]
        });
    }
});