The rock at both areas is sandstone, and is of basically the same quality at both areas (although the weathering processes are quite different, given that the Peninsula crags are sea cliffs while the Nowra cliffs are river carved). This sandstone is quite similar to that found in the Blue Mountains and Sydney, although it's generally a little harder and stronger (and also a lot greasier in caves and under rooves).
Its interesting to note that while both areas have very similar rock, the ethics at the two crags are quite different. The Nowra crags were developed almost exclusively as a sport climbing mecca, while the Peninsula contains some of the most fantastic traditional sea cliff climbing around.
If you're looking to push the grades with minimal hassles, and can lead up to about grade 16 already, Nowra is definitely the place to go. If you're leading up to about grade 18 on traditional gear and want to get some great mileage in, the Peninsula is a fantastic place to do it.
One word of warning before you plan on climbing at Nowra. It seems there's a well organised group of thieves that work many of the more secluded spots, breaking into cars and stealing anything worth having. They operate at the Thompson's Point and Point Perpendicular Lighthouse carparks in particular, and (as we found out) don't mind smashing windows to get at gear they want. I'd recommend leaving your car empty and unlocked if you're climbing at either area.
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