It depends on what information about the rays is given.
If all you have is two rays drawn on a sheet of paper then you need to measure the angle using a protractor. If their equations are given - in standard or vector form, then there are formulae that will enable you to work out the angle between them.
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Two intersecting rays form an angle. Without two rays you do not have an angle.
Will Any two rays form an angle?
No. If the rays do not meet, there is no angle.
It's true, an angle is made up of two rays. Two rays meet at a point, and their relative position at the point where they meet will define an angle.
The two rays that form an angle are called the legs or sides of the angle. The meeting point of the two rays that form an angle is called the vertex.