Updated beta approach.
Get to Baden or Arcadia St, Coogee and head east.
Make sure you plan your investigations a low tide and small swells.
Updated beta access issues.
Conduct your own Risk Assessment, then chose whether to blithely rap off sundry rusted carrots on the lip, rope down the horrid rubbish-shute gully to the north, or if supremely derisive of your own Occupational Health and Safety, bungy off the pole of the "DANGER DO NOT GO NEAR THE EDGE" sign. Alternatively paddle in and conduct a seal landing or other amphibious assault. However, walking around the cliff base from the beach is definitely not recommended, as are any activities during high tides and huge seas.