Download plugin from SourceForge Page
Go to your Eclipse install directory (e.g. 'C:\Program Files\Eclipse', on GNU/Linux if a package manager was used you can find the installation dir using whereis eclipse command), find plugins directory and put jar file here.
If your Eclipse version is Kepler or higher put jar file to dropins directory instead of plugins .
To use PyDoc plugin simply select Help -> Help Contents and you will see something like this
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