"Sex Slave's" Father Wants R.Kelly to Admit He's a Pedophile!

If you haven't heard the 19 minute "I Admit" confession that R. Kelly released last week, we suggest you take a listen.

Kelly admits to about 90% of the rumors that we've heard about him. He can't read. He was molested by a family member. He had a drug problem. HE DID tell Wendy Williams a bit of his business. Yadda yadda yadda.

He admits to loving women of all ages, he admits that some of the women were brought to him by their fathers but HE NEVER admits to being a pedophile and that's rubbing some folks wrong.

Angelo Clary -- father of Azriel Clary -- tells TMZ ... Kelly took advantage of his daughter at the age of 17, which is a year too early under Florida law.

Clary insists R. Kelly is a pedophile, and says his "I Admit" lyrics about sympathizing with parents of his "girlfriends" are total BS.

As we reported ... Kelly addresses some of the sex cult allegations in the new, 19-minute long track -- in addition to his financial problems and celeb beefs with Steve Harvey and John Legend.

Clary doesn't give a damn about the singer's woes, but does suggest there's an easy fix for Kelly ... if he's really game.

I might need to get my eyes checked again but in no way shape or form does the above picture look like that of an adult.

R. Kelly's ex-wife had a lot to say about his admission too. You can read her "remix" rant below.