First public release of Arc came not long after Clojure.
Clojure is definitely better thought out as a language, and while Arc has some interesting ideas around web development, it also doesn't have a module system, so everything is just loaded into the same global namespace, which is pretty insane.
Keep in mind that Arc is the start of something with long-term goals; further, it's part of a lifecycle that didn't necessarily start with Arc but with the first Lisp. PG points to an early essay titled "The Hundred-Year Language" [1] as an indicator of where Arc is intended to go and some future outlooks that might inspire more evolution.
I don't know that any programming language can be everything it needs to be from the outset, but it certainly needs inherent featured supporting longevity, a framework that supports change and evolution, while still having a pleasing and useful function that can be taken advantage of immediately.
Clojure is definitely better thought out as a language, and while Arc has some interesting ideas around web development, it also doesn't have a module system, so everything is just loaded into the same global namespace, which is pretty insane.