This week's book giveaway is in the Mac OS forum. We're giving away four copies of a choice of "Take Control of Upgrading to Yosemite" or "Take Control of Automating Your Mac" and have Joe Kissell on-line! See this thread for details.
First of all I would recommend using the Metro web service stack which can be installed in Tomcat, as described here: http://metro.java.net/2.1.1/ Then I have some examples on how to develop web services in Eclipse in one of my books (free download after registration): http://www.slideshare.net/krizsan/scdjws-5-study-notes-3085287 I used Eclipse and GlassFish when developing the examples in the book, but if you install Metro in Tomcat, the procedure should be identical.
Of course you will not be able to develop examples that require, for instance, an EJB container.