Time in Amsterdam

I am trying to figure out what we are going to do with our free time in Amsterdam at the end of our cruise. The only free time we have is what is left on the last full day of the cruise. Are there shuttles from a certain location in the city to the dock? If yes, does anyone know specifically where the shuttle picks people up in the city? How much time do you have after lunch on the glass-topped canal boat and the farewell dinner on the ship? Thanks!