Motor boat? Sailboat? There's a few marinas in Bordentown, but I haven't seen masts there. There's a marina in Riverside with sailboats..I've sailed there...
There's plenty of powerboats that particpate in the Shad tournaments at lambertville..
There's a boat launch in yardley.
There are more than a few obstacles to sailing that far north I would guess. depth....dams, scudders falls...bridges..I don't know the heights.?
I'd call one of the local marinas like Riverside Marina..and ask a local.
Here's a chart from Phili to Trenton...Chart 12314