Maybe this analogy will help:
Take a steel block sliding along a flat steel plate. To find "mue" the friction coefficient as used in a physics class, you'd raise the plate to the point where the block slides down it. That angle is analogous to the friction angle used in soils. (Also, to get "mue" of the block against the ramp, you'd take the inverse tangent of the resulting angle)
In soil mechanics, we're dealing with particulate materials. As jdonville mentioned, the friction angle is determined based on different testing such as the direct shear test. You find the maximum shear stress on a surface of the soil and observe how it increases with increaases in normal stress. Of course, there are other tests to determine it too.
In the case of loose dry sand, the angle of repose is about equal to the internal angle of friction, in that loose state. It would be different at different normal stresses, which is why another test method such as the direct shear test, must be used.
Regarding your other question: the friction angle is related to the angle at which the sample will shear, but it is not really in a direct way. Instead, you need to look at Mohrs circle and you will see how friction angle plays a role.