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is a borough in Franklin County, Pennsylvania, located 78 miles (126 km) northwest of Baltimore, Maryland, and 2 miles (3 km) north of the old Mason-Dixon Line. The population was 9,614 at the 2000 census. Waynesboro is in the Cumberland Valley between Hagerstown, Maryland and Chambersburg, Pennsylvania. It is close to Camp David and Raven Rock Mountain Complex.
Waynesboro is located at 39°45'13" North, 77°34'55" West (39.753685, -77.581980).
According to the United States Census Bureau, the borough has a total area of 8.7 km² (3.4 mi²). 8.7 km² (3.4 mi²) of it is land and none of the area is covered with water.