There is no build in capability which allows related contents to be displayed in context of a specific document
However there are commercial products / web parts that allows you to do that
One of the commercial web part suit is
SharePoint Related Contents Webparts
The webpart uses the categorisation and tags for the content to show related contents within sharepoint.

Custom Implementation:
Related contents can also be managed by developing a custom implementation using the capabilities of Managed Metadata Service in SharePoint 2010 as specified in this article
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