No special access issues
The best access is through the main entrance of the "Mirante da Praia das Palmeiras", just next to "Rua Eduardo Nader, 419". It is a preservation area and the access is free and open to the general public. After crossing the wall opening, there is a paved path that takes you to some boulders. There is a natural gate made of boulders that gives access to stairs that take you down to the beach where there are a few more boulders. There is plenty of side street parking at Eduardo Nader's street. By bus you will have to hop off at "Rua João Meirelles". Depending on the chosen bus stop it may be preferred to access the sector via "Rua das Palmeiras".