$ mkvirtualenv angr
$ pip install angr
$ docker run -it angr/angr
That's the short answer.
Troubleshooting directions, in addition to a more detailed description of the install process, can be found in the documentation.
angr owes its existence to research sponsored by DARPA under agreement number N66001-13-2-4039!
For questions, hop on our slack (get an invite here) or contact the angr mailing list: angr ~at~ lists.cs.ucsb.edu