Angularjs documentation is full of examples, you just need to take some time and explore it.
See this example here : ngRepeat example , it’s the same case.
<ul>
<li ng-repeat="question in questions | filter: {questionTypesId: questionType, selected: true}">
<div>
<span class="name">
{{$index + 1}} {{ question.questionText }}
</span>
</div>
<ul>
<li ng-repeat="answer in question.answers">
<span class="name">
{{answer.selector}}. {{ answer.answerText }}
</span>
</li>
</ul>
</li>
</ul>