angel of Yahweh

"angel who represents Yahweh" or "messenger who serves Yahweh" or it may refer to Yahweh himself, who looked like an angel as he talked to a person.

went up from Gilgal to Bokim

"left Gilgal and went to Bokim"

"Bokim" means "crying."

"and said to the people of Israel"

"led you from Egypt"

"fail to do what I said I would do for you"