Leyburn and Richmond
Leyburn offers good shopping, tea rooms and restaurants; try the Teapot Factory (http://www.teapottery.co.uk/) for an hours break and you will find other ideas here http://www.welcometoleyburn.co.uk/ . From Leyburn the road south to Nidderdale passes Jervaulx Abbey (http://www.jervaulxabbey.com/) and continues on to Ripon and its beautiful cathedral
and offers a good hour or two drive with village tea shops to sustain en route.
Richmond is one of my favourite towns; although shopping is not comprehensive, it is sufficient for most needs, and is complemented by the cobbled market square , castle, Green Howards regimental museum and the old station, converted into a wonderful place to meet, rest, eat, enjoy the art exhibition or local craft businesses, or to plan to see a film in the cinema (http://www.richmondstation.com/cinema.asp) or take a swim in the adjacent leisure centre (http://www.rltrust.org.uk/). See http://www.richmond.org/ for more ideas.