When I went... We shared a taxi with some other people staying in Prague itself. There is a taxi shuttle service at the airport where you can book a return service where they pick you up from your hotel on the way back too. I can't for the life of me remember the name though. There's a booth in the airport though where you can book it. Was dirt cheap and quick.
RE: I know Flamborough like the back of my hand . My mam used to have a caravan on Flamborough head. That feckin lighthouse used to keep us awake when it was foggy.