A quick hike with some vertical is the Cannonball trail from Pompton Lakes (Barbara Dr). Once over the footbridge crossing over Rt. 287, look for the yellow trail to the right (not far after the bridge). This goes up to the top of the ridge - with the leaves down, you'll have some good views to the south.
If you continue taking the yellow trail, it will come out on an old road - make a left and you'll head to the south end of Ramapo Lake (from Skyline Dr). Stay to the left and you can follow the Cannonball back down (stay to the left after the lake and you'll see the red C trail markers break off the old road to the left).