Open up Finder -> go to your hard drive where the Applications folder is located -> drag that folder to the dock next to the trashcan (at least on the same side of the divider by the trashcan) and ta da. Note: Trying to drag Applications from the sidebar didn't work me so drag from there, find it through the hard drive folder.
After it's docked, right-click on it to get a list of its contents (essentially a start menu now), or you can click on it and it'll open a Finder window for the Applications folder.