In mechanical systems, energy efficiency is often reduced by unwanted forces like friction and backlash, which significantly impact performance and, over time, lead to increased wear and maintenance costs. Implementing compliant joints can address these issues, simplifying assembly and improving performance. However, compliant mechanisms introduce higher internal loads due to elastic deformation in the flexures, limiting the range of motion and affecting overall efficiency. One way to solve this is using the principle of static balancing, which ensures that a point of interest remains in equilibrium, meaning that no added forces or moments are needed to keep it at rest at certain positions. This can be done by compensating the internal potential energy, which has been implemented in literature for 1 Degree of Freedom configurations. The goal of this paper was to expand the known method into designing a multi-degree of freedom without the use of external springs. The method was based on applying a preload to the compliant joints in the mechanism and optimize in such a way to create a constant potential energy curve. The model was validated using finite element analysis, prototyping and physical testing. It can be concluded that for the first time, a two degree of freedom statically balanced mechanism has been designed. It has a peak force reduction of $95\%$ and a moment reduction of $80\%$, while having a range of motion worth $50\%$ of the size of the mechanism. The mechanism can be used in vibration isolators or as fundamental inspiration for new applications where preloading could lead to lower exerted loads and thus improve efficiency.