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There are five trains a day from Belgrade which run as modern EMUs from Belgrade's central station (Beograd Centar) and take around 3 1/2 hours. Timetable information available here on the [http://www.srbvoz.rs/eng/timetable.html Serbian Railways] website.
The train and bus stations are adjacent, south of the river, just a few minutes walk to the centre. There is a useful map (ariel view) of the town at the train station, from which you can find your way to the Tourist Information Office (closes at 4pm).