Intimidate vs scare

"He would stare at the jury trying to intimidate and/or scare them."

What's the difference

"Scare" means to create a condition of fear. "Intimidate" refers to creating more of a condition of anxiety, and for a specific purpose, such as to get someone to do what you want or simply to establish dominance. Usually, people engaged in intimidation try to cause enough anxiety that the person isn't willing to stand their ground, but not so much that the other person feels that retaliating is necessary/justified.

Other words come into play.

It is really a question of degree.