jQuery is a DOM manipulation library.
AngularJS is an MV* framework.
In fact, AngularJS is one of the few JavaScript MV* frameworks (many JavaScript MVC tools still fall under the category library).
Being a framework, it hosts your code and takes ownership of decisions about what to call and when!
AngularJS itself includes a jQuery-lite edition within it. So for some basic DOM selection/manipulation, you really don't have to include the jQuery library (it saves many bytes to run on the network.)
AngularJS has the concept of "Directives" for DOM manipulation and designing reusable UI components, so you should use it whenever you feel the need of doing DOM manipulation related stuff (directives are only place where you should write jQuery code while using AngularJS).
AngularJS involves some learning curve (more than jQuery :-).
-->For any developer coming from jQuery background, my first advice would be to "learn JavaScript as a first class language before jumping onto a rich framework like AngularJS!" I learned the above fact the hard way.