AngularJS is a complex framework with a moderate to steep learning curve. JQuery is not a framework but a library. If you are looking to build a single page app especially a CRUD app then AngularJS is a good fit as it will offer two way data binding, routing (important for single page apps), plus many other features out the box.
It uses jQlite a subset of jQuery, but it is opinionated about how apps are built, this means you need a solid understanding of how it works, you will need to understand controllers, services and directives and why you should only update the DOM in directives.
Single page apps can be done using jQuery alone but you will have to manage the framework side of things yourself.
If you include jQuery before AngularJS it will substituted for jQlite, to get to grips with the fundamentals, and thus arm yourself with knowledge to make decisions on its use, have a look at these excellent videos at egghead.io.
As for when to reach for jQuery, this will be when you cannot find a way to do something the Angular way. An example of this is Angular doesn't have a way to disable items in a select element. You would reach for jQuery here to listen for a change event on the select and manipulate the UI yourself from a directive.
UPDATE
Regarding the routing capabilities, I strongly recommend the excellent UI-Router instead of the out of the box router.
