Nonlinearity is the key to introducing novel concepts in various technologies utilizing traveling waves. In contrast to the field of optics, where highly functional devices have been developed using optical Kerr nonlinearity 1-3 , such a nonlinear effect in acoustic devices has yet to be fully exploited. Here, we show that most fundamental nonlinear phenomena of self-phase modulation (SPM), cross-phase modulation (XPM) and four-wave mixing (FWM) caused by the acoustic Kerr effect are quantitatively characterized using a newly developed platform consisting of a planar nanoelectromechanical waveguide (NEMW). Combining the cutting-edge technology of a high crystalline quality NEMW with a piezoelectric interdigital transducer (IDT), we efficiently excite an intense and long-lived traveling wave sufficiently to induce and characterize acoustic nonlinearity. The observed nonlinear phenomena are precisely described by the model using the nonlinear Schrödinger (NLS) equation, so that this architecture enables the nonlinear dynamics to be perfectly tailored. The flexible and integratable platform extends the ability to manipulate acoustic wave propagation on a chip, thus offering the potential to develop highly functional devices and study novel nonlinear acoustics.