Do you want to do only simulation on an environment or you also want to record from actual arm ?

you can use ROS with Gazebo for robotic simulation purpose and if you are interested only in simulation, the simulator will give you angular data.

If you are designing a robot arm, you can use a potentiometer which will rotate with the rotating link

thanks for reply....right now I am interested only in simulation

You can use matlab, it offers a lot of design and simulation possibilities.

You can model a robot arm in Matlab/Simmechanics environment, and use "joint sensor" to measure the position and the velocity of each joint.