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i dont think there is any actual law preventing you being nude. breach of the peace maybe? but then someone has got to make a complaint and prove it against you. thats COMMON LAW if you get charged with a public disorder ACT then that is STAUTORY LAW which can only be enforced if you consent to it.
as for public beaches. where it says nude bathing permitted beyond this point... it will be commisioned by a council. by acknowledging this notice you have admitted you accept their terms.
if you got naked on another part of the beach where it didnt saynude bathing permitted beyond this point. then it is acceptable cos no one presented you a contract or anything else for you to agree to.
ok you will be arrested, BUT NOT CHARGED if you know your rights and can articulate them. its just a matter of inconvenience for yourself.
worth looking into if you are really passionate about public nudism.