The objective of this work is to analytically study the nonlinear dynamics of beam flexures with a tip mass undergoing large deflections. Hamilton's principle is utilized to derive the equations governing the nonlinear vibrations of the cantilever beam and the associated boundary conditions. Then, using a single mode approximation, these nonlinear partial differential equations are reduced to two coupled nonlinear ordinary differential equations. These equations are solved analytically using the multiple time scales perturbation technique. Parametric analytical expressions are presented for the time domain response of the beam around and far from its internal resonance state. These analytical results are compared with numerical ones to validate the accuracy of the proposed analytical model. Compared with numerical solution methods, the proposed analytical technique shortens the computational time, offers design insights, and provides a broader framework for modeling more complex flexure mechanisms. The qualitative and quantitative knowledge resulting from this effort is expected to enable the analysis, optimization, and synthesis of flexure mechanisms for improved dynamic performance.