from bus 33's final stop in jurujuba, these beaches can easily be reached by walking 10 minutes along estrada general eurico gaspar dutra.           

alternatively, there is a boat that leaves praça xv every 30 minutes and reaches praia de charitas in 15 minutes.  

from charitas, the bus line 33 goes along the shore and stops at praia da várzea / salinas, praia do cáis, and praia de jurujuba (final stop).

praça xv is easily reachable via taxi in 15 minutes, or via several buses routing along copacabana and ipanema, including bus line 354.