You are better to move your routable IP block so it is between the 4331 and the MX100.
Failing that, if you are using client VPN to the MX100 you need to make sure udp/500 and udp/4500 are NATed through to the MX100 WAN interface IP address.
You wont be able to directly NAT on the ISR4331 to IP addresses behind the MX100. You will need to NAT (on the ISR4331) to an IP address that is between in the ISR4331 and the MX100, and then NAT again (on the MX100) from that IP address to the final internal IP address.
However like I say, it is a million times simpler if you can just put the public IP address block between the ISR4331 and the MX100.