Whisk together oil, soy sauce, vinegar, lemon juice, Worcestershire sauce, Dijon mustard, garlic, and pepper for marinade until thoroughly combined. Place steak in a 9×13-inch glass baking dish.
Pour marinade over flank steak in the baking dish; turn several times to coat thoroughly with marinade. Cover, and refrigerate for 2 to 6 hours, or up to 12 hours if you have time.
When ready to cook, preheat an outdoor grill for medium-high heat and lightly oil the grate.
Remove steak from the marinade and shake off excess. Discard the remaining marinade. Cook steak on the preheated grill for about 5 minutes per side, or to desired doneness. Remove from the grill and let rest for 5 minutes before slicing and serving