Beautiful area. There is lots to do. I'd check with local chamber of commerces and Maine tourism bureau as they'll be able to steer you in the right direction.
The view from the top of Mount Battie over looking Cambden town and harbor is well regarded. I know there is a road to the top but can't remember if there are some nicer trail ways to walk there.
I can't give you specifics as I've been to so many places up the Maine coast that I get some of the parks and assorted trails mixed up as to how close the locales are to each other (in driving time). Also the last time I was there, we had a couple of 80-year olds with some mobility issues so I didn't get to get too far off the welltraveled path.
I've got more memory for the trails up in Acadia, which is only about 50 miles away but may be too far for daytrip (as there is no fast highway; I think the scenic drive around the park itself is 30 miles but they expect you to need four hours, and that is driving with a few little stops, not any real hiking).
For me Cambden-Rockport-Rockland is major hub for windjammer cruising - which I think they may offer a variety of daytrips if some of the boats are in port and not out on longer cruises.
There are also some ferries to various islands in the area which might be worth a day trip and exploration.
Also if you want other activities, I know that there are rental areas for canoeing and kayaking - both ocean and on lakes in the area.
Best specific suggestion .....If you get a bad weather day,
do your walking in the Farnsworth Museum in Rockland (which is just a few miles south of Cambden).
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