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Getting to Newburgh on the Hudson River was an easy stretch for us and there was little traffic on the river.  You have to always look out for floating things though like logs and weeds.  It is kind of fun though trying to find a path through and not drag anything along with you.  We pass under tall bridges that look like giant steel bugs stretched out across the water.  Sometimes when we go underneath I feel like the mast is going to hit but it never does.  I couldn’t find a good picture of the water front in Newburgh but here is one that gives a good idea of what the surrounding area looks like.
http://localism.com/NY/Newburgh