Hi Chris.
I would go with LB's route myself the A4103 has a horendous hill to decend called Fromes hill. Very steep and would give brakes already warmed up by the twists and turns and smaller hills from Worcester, a real pounding on that hill. Also, if you catch Worcester by-pass at the wrong time, it can be as good as the M25!
Lucksall is a lovely park, good fishing there to be had.
Hope you have a good time.
Steve L.