Yes, but you have to use a virtual switch act as a gobetween.
Routine A turns on the virtual switch
The virtual switch triggers Routine B via a smartapp you’ll find in the marketplace:
(“Home phrase” was the original term for “routine”)
And Routine B turns off the virtual switch again so that it will be ready for the next time. 
If you haven’t created a virtual switch before, here are the instructions for that: