In reply to Anonymous:
+1 for Kilmar Tor. I have often been running around there, starting from Minions or, more often, from the end of the lane you mention. I have been along the ridge a few times, and up and over it in several places, at which times the running became 'running'.
There must be many good scrambles down to/by the water's edge in West Penwith. One I've done with our children, years ago when the youngest was around 10, was out along the base of Porthguarnon cliff, following our nose until we found a way up.
Another could be the way down to the base of the Seal Slab end at Chair Ladder. I hesitate to recommend it, since it is a good 15 years since I was there, but I don't recall ever using a rope for that, including the crawl across the jammed boulder above the dawn. If you've never been there, it would have a real sense of adventure. Ditto the way down to the bottom of Helluva Slab. Or just walk/scramble out as far as you can along the base of Bosigran, or take the normal scramble out to the foot of Sennen and then back out, and so on.