So what is the proper etiquette for asking others if they need assistance?

I am a relatively new rider and do not go more than 7-ish miles away from home. Oftentimes, I do not usually take a frame pump and sometimes I forget my multitool. I usually remember my extra tube but I am not sure why I would take that but not a pump....

Aside from my dangerous optimism about flats and other mechanical disasters, I feel that the knowledge and equipment I possess in regard to those stopped at the side of the road is minimal at best (i.e. watching them repair their bicycle or calling for assistance).

In addition, as a young woman who rides alone, I hesitate to stop sometimes...if I never made it home, it would take my housemates at least a couple days to figure out I was missing...

Is it polite to ask the people stopped at the side of the road (who usually have nicer stuff than I do) if I can assist them even though my knowledge and equipment is limited?