In this study, kinematic and dynamic characteristics of a planar four-bar mechanism having joint clearance and link flexibility are investigated. Assuming that joint clearance as a virtual massless link, artificial clearances are developed at crank-coupler and coupler-follower joints. Contact model in joints with clearance is established using the nonlinear spring-damper model and the friction effect is considered using the Coulomb friction model. Then the simulation is implemented and the kinematic and dynamic characteristics of model mechanism are investigated. The computational methodology can predict the effects of clearance on planar mechanism having rigid and flexible links. The results are evaluated for the case of stationary phase, and naturally show that extreme values occur in output of the mechanism with clearances. Due primarily to the suspension effect of the flexible link, values of these peaks in the flexible mechanism decrease relative to that of the rigid mechanism. In addition, the flexibility has a significant effect on the vibration response of the mechanism with joint clearance.