This is used in an imperative sense: "If there's anything you don't understand, just ask."

I wanted to know how the particles worked to give this tone, since, without the particles, it could've been a general sentence saying "I/you/we ask things I/you/we don't understand."

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    This の after the 聞く is the key here. – oldergod Oct 13 '15 at 2:24

Even though it may look like an imperative in that translation, it would not be expressly called "imperative" among us native speakers. It is only "imperative-ish" at best.

「のよ」 makes a phrase a soft-sounding and mostly-feminine way to remind the listener of the need to perform a certain action (as in a good piece of advice).

「わからない事は聞くのよ。」: mostly feminine

「わからない事は聞くんだよ。」: largely but not entirely masculine

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