Sergeant Major Angulo was born in Los Angeles, California. He enlisted in the Marine Corps on October 29, 2001, and attended recruit training at MCRD San Diego, California. Upon completing recruit training, he received training at Marine Combat Training (MCT) at Camp Pendleton. Upon completion of MCT, he attended the Motor Transport Operators Course in Fort Leonard Wood, Missouri, and received the MOS 3531.

Following MOS School, Private First Class Angulo reported to the 4th Marine Regiment, 3d Marine Division, Camp Schwab, Okinawa, Japan, where he served as a Motor Transport Operator and the Company and Regimental Marine Corps Maintenance Management Specialist. He was promoted to Lance Corporal in December 2002 and to Corporal in July 2003. That same month, Corporal Angulo was assigned to 1st Tank Battalion, Twentynine Palms, California. In October 2003, Corporal Angulo deployed in support of Operation IRAQI FREEDOM. In February 2004, Corporal Angulo volunteered to be re-deployed to Camp Fallujah, Iraq, in support of Operation IRAQI FREEDOM II.

In February 2005 Corporal Angulo was promoted to Sergeant and reassigned to Headquarters and Service Company, where he served as a Medium Section NCO and Platoon Sergeant. In January 2006, Sergeant Angulo reported to Drill Instructor School at Marine Corps Recruit Depot (MCRD) San Diego, California, and was promoted to Staff Sergeant in July 2008. While there, he served as a Drill Instructor and Senior Drill Instructor with India Company, 3d Recruit Training Battalion, and as a Curriculum Developer for Recruit Training Regiment. His efforts aided in the restructuring of the Recruit Training and Drill Instructor School Programs of Instruction.

In March 2009, Staff Sergeant Angulo reported to Marine Wing Support Squadron 371 in Yuma, Arizona. While there, he served as a Truck Master, Motor Transport Operations Chief, and Equal Opportunity Representative. In October 2011, was appointed as the Marine Wing Support Squadron 371 Motor Transport Company Gunnery Sergeant, Motor Transport Maintenance Chief, and the Squadron Electronic Key Management Systems Manager.

In April 2012, Staff Sergeant Angulo reported to 3d Battalion, 3d Marines in Kaneohe Bay, Hawaii, where he served as the Motor Transport Operations Chief. In addition, during this time, he served as Motor Transport Officer and Maintenance Chief. While there, Staff Sergeant Angulo deployed to Camp Schwab, Okinawa, Japan, under the Unit Deployment Program and participated in various unit training exercises, including the Philippine Bilateral Exercise (PHIBLEX 2013).

In April 2014, Staff Sergeant Angulo reported to Drill Instructor School at MCRD San Diego, California, and was subsequently assigned as a Senior Drill Instructor with Golf Company, Second Recruit Training Battalion. In September 2014, Staff Sergeant Angulo was promoted to Gunnery Sergeant and assigned to Drill Instructor School. In May 2017, Gunnery Sergeant Angulo received orders to Marine Wing Support Detachment 24, Marine Corps Base Hawaii. During this time, Gunnery Sergeant Angulo served as the Support Division SNCOIC and the detachments Operations Chief.

In February 2018, he was frocked to First Sergeant and assumed the duties of Company First Sergeant, Alpha Company, 3d Radio Battalion. In July 2020, First Sergeant Angulo was reassigned to 1st and 2d Platoon, Truck Company, 23d Marine Regiment in Baton Rouge, Louisiana. In April 2022, he was frocked to his present grade of Sergeant Major and assigned as the Sergeant Major for Marine Medium Tiltrotor Squadron 161.

Sergeant Major Angulo's personal awards include the Meritorious Service Medal, Navy and Marine Corps Commendation Medal and Navy and Marine Corps Achievement Medal (with two Gold Stars in lieu of 3d award), and he holds an Associates of Science in Computer Applications from American Military University.