To summarise / add to the discussion:
The difference between -い and -く is not one of part of speech, it's of grammatical form. Adjectives that end in -い do one of two things:
-Come at the end of a sentence, as the main verb: 車が速い。
-Modify an immediately-following noun: 速い車(が~、を~)
Adjectives that end in -く also do one of two things:
-Indicate a transition between two main clauses in the same sentence (often like English 'and'): 車が速く、自転車が遅い。
-Act as an adverb, modifying a verb: 車が速く走る。
Though, if you think about it, these are effectively the same thing - it becomes a bit more apparent if you vary the conjunction in English (using things like 'while' and so on as well as 'and'). So X無く can indeed be used to mean 'without X', but it means more 'while X is not present / does not exist'. (English fairly distinctly separates adverbs and adjectives, but on a very low level, Japanese treats adverbs as separate clauses containing an adjective - you could in theory translate 車が速く走る as 'the car is fast and goes' or 'the car goes and is fast'.)
To answer your main question directly, the difference between 間違いない and 間違いなく is one of whether or not they can stand as a sentence on their own. 間違いない can, and means something like 'there is no mistake'. 間違いなく can't really (outside of incomplete sentences), and means more 'without a mistake'.
-(a)ku
in that なく long ago attached to certain forms of verbs, replacing the final vowel witha
and forming a noun. For example, it attached to 「ず」の連体形「ぬ」, replacing the vowelu
, givingn-aku
, a noun. Likewise for 「恐る」の連体形「恐るる」, giving 恐るらく, a noun, which gave 恐るらく+は → 恐らくは → 恐らく, an adverb. That-(a)ku
appears in relatively few words in modern Japanese; you'll find it in 老いらく and 曰く, for example. In contrast, the く form of adjectives is very common.