Hi Wolfy,
It depends what you mean by a short distance. The ones I can think of near to Ilkley & within about 500 meters of parking are;
Weston Moor (which is over a stile). Most of the carvings here are just simple cupmarks, apart from the Greystone rock:
http://www.themodernantiquarian.com/site/5866
http://www.themodernantiquarian.com/site/7691
Some of the RA in the Baildon Moor area is quite impressive, but it includes a 100m gradient to navigate.
http://www.themodernantiquarian.com/search/?action=search&site_names=Y&search_string=baildon
Theres also some on Snowden Carr (which I've not seen yet) meters away from the road.
If any others come to mind I'll let you know.
Depending when you're down, I'll quite happily show you around.
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