Limited-angle rotational compliant mechanism is required in micropositioning applications where a high-resolution rotational motion with a large range and compact size is needed. This paper presents the conceptual design, analytical modeling, and FEA performance evaluation of a novel compliant rotational micropositioning mechanism, which is designed based on a rotary flexure bearing. To enlarge the rotational range, four radial flexures are employed to increase the rotational range while maintaining a compact physical size of the device. The mechanism is driven by a limited-angle torque motor which can provide an output torque directly. Analytical models are established to facilitate the parametric design of the mechanism, which is validated by conducting finite element analysis simulation. A prototype device will be fabricated for further investigations.