The Hartlepool branch of the National Museum of the Royal Navy is built around HMS Trincomalee, but it's more than just the ship. The site is laid out as a reconstructed Georgian seaport — cobbled streets, shopfronts of a chandler, a tailor, a printer — with costumed guides who handle questions without lecturing.
Inside there are exhibits on the Napoleonic-era Navy, life below decks, and a children's play area built around a sloop's gun deck. It's well done for an hour or two on top of the Trincomalee visit and considerably more substantial than its name might suggest.