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Delft with day trips to Rotterdam (including Maeslant tour) and Kinderdijk

As a part of our trip to the Netherlands, we were thinking of staying in Delft for a few nights and taking a day trip to Rotterdam, where we would like to do the Rick Steves walking tour which is supposed to take about 4 hrs, and also going on a tour of the Maeslant storm surge barrier. Additionally, we are considering a visit Kinderdijk to see the windmills there. It seems like it's a little tricky getting to the Maeslant tour and Kinderdijk by public transport. Should we rent a car, or are these doable by public transport? Would it be feasible to see these sites in one day trip or should we allow two days? Thanks in advance for your advice!

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Kinderdijk is easy: in season there is a river ferry (the Waterbus) which takes you directly from the Erasmus bridge in central Rotterdam to the windmills. Check the Kinderdijk website for details. The same ferry continues to Dordrecht, which is well worth a visit. In Dordrecht you'll find frequent direct trains back to Delft.
The Maeslant barrier indeed seems to be a nuisance with public transport. This is maybe one of the few trips which justifiy a rented car.

Entry to the Kinderdijk complex is free. Only buy tickets if you want to have a look inside one of the windmills and to visit the pumping station.