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In 1626, Fort Nassau was established by the Dutch West India Company at the confluence of Big Timber Creek and the Delaware River. Throughout the 17th century, Europeans settled along the Delaware, competing to control the local fur trade. After the Restoration in 1660, the land around Camden was controlled by nobles serving under King Charles II, until it was sold off to a group of New Jersey Quakers in 1673. The area developed further when a ferry system was established along the east side of the Delaware River to facilitate trade between Fort Nassau and Philadelphia, the growing capital of the Quaker colony of Pennsylvania directly across the river. By the 1700s, Quakers and the Lenni Lenape, the indigenous inhabitants, were coexisting. The Quakers' expansion and use of natural resources, in addition to the introduction of alcohol and infectious disease, diminished the Lenape's population in the area.

The 1688 order of the County Court of Gloucester that sanctioned ferries between New Jersey and Philadelphia was: "Therefore we permit and appoint that a common passage or ferry for man or beast be provided, fixed and settled in some convenient and proper place between ye mouths or entrance of Cooper's Creek and Newton Creek, and that the government, managing and keeping of ye same be committed to ye said William Roydon and his assigns, who are hereby empowered and appointed to establish, fix and settle ye same within ye limits aforesaid, wherein all other persons are desired and requested to keep no other common or public passage or ferry." The ferry system was located along Cooper Street and was turned over to Daniel Cooper in 1695. Its creation resulted in a series of small settlements along the river, largely established by three families: the Coopers, the Kaighns, and the Mickels, and these lands would eventually be combined to create the future city. Of these, the Cooper family had the greatest impact on the formation of Camden. In 1773, Jacob Cooper developed some of the land he had inherited through his family into a "townsite," naming it Camden after Charles Pratt, the Earl of Camden.

For over 150 years, Camden served as a secondary economic and transportation hub for the Philadelphia area. However, that status began to change in the early 19th century. Camden was incorporated as a city on February 13, 1828, from portions of Newton Township, while the area was still part of Gloucester County. One of the U.S.'s first railroads, the Camden and Amboy Railroad, was chartered in Camden in 1830. The Camden and Amboy Railroad allowed travelers to travel between New York City and Philadelphia via ferry terminals in South Amboy, New Jersey and Camden. The railroad terminated on the Camden Waterfront, and passengers were ferried across the Delaware River to their final Philadelphia destination. The Camden and Amboy Railroad opened in 1834 and helped to spur an increase in population and commerce in Camden.

Horse ferries, or team boats, served Camden in the early 1800s. The ferries connected Camden and other Southern New Jersey towns to Philadelphia. Ferry systems allowed Camden to generate business and economic growth. "These businesses included lumber dealers, manufacturers of wooden shingles, pork sausage manufacturers, candle factories, coachmaker shops that manufactured carriages and wagons, tanneries, blacksmiths and harness makers."The Cooper's Ferry Daybook, 1819–1824, documenting Camden's Point Pleasant Teamboat, survives to this day. Originally a suburban town with ferry service to Philadelphia, Camden evolved into its own city. Until 1844, Camden was a part of Gloucester County. In 1840 the city's population had reached 3,371 and Camden appealed to state legislature, which resulted in the creation of Camden County in 1844.

The poet Walt Whitman spent his later years in Camden. He bought a house on Mickle Street in March 1884. Whitman spent the remainder of his life in Camden and died in 1892 of a stroke. Whitman was a prominent member of the Camden community at the end of the nineteenth century.

Camden quickly became an industrialized city in the latter half of the nineteenth century. In 1860 Census takers recorded eighty factories in the city and the number of factories grew to 125 by 1870. Camden began to industrialize in 1891 when Joseph Campbell incorporated his business Campbell's Soup. Through the Civil War era Camden gained a large immigrant population which formed the base of its industrial workforce. Between 1870 and 1920 Camden's population grew by 96,000 people due to the large influx of immigrants. Like other industrial cities, Camden prospered during strong periods of manufacturing demand and faced distress during periods of economic dislocation.

At the turn of the 20th century, Camden became an industrialized city. At the height of Camden's industrialization, 12,000 workers were employed at RCA Victor, while another 30,000 worked at New York Shipbuilding.Camden Forge Company supplied materials for New York Ship during both world wars. RCA had 23 out of 25 of its factories inside Camden. The Campbell Soup Company was also a major employer. In addition to major corporations, Camden also housed many small manufacturing companies as well as commercial offices.

From 1899 to 1967, Camden was the home of New York Shipbuilding Corporation, which at its World War II peak was the largest and most productive shipyard in the world. Notable naval vessels built at New York Ship include the ill-fated cruiser USS Indianapolis and the aircraft carrier USS Kitty Hawk. In 1962, the first commercial nuclear-powered ship, the NS Savannah, was launched in Camden. The Fairview Village section of Camden (initially Yorkship Village) is a planned European-style garden village that was built by the Federal government during World War I to house New York Shipbuilding Corporation workers.

From 1901 through 1929, Camden was headquarters of the Victor Talking Machine Company, and thereafter to its successor RCA Victor, the world's largest manufacturer of phonographs and phonograph records for the first two-thirds of the 20th century. Victor established some of the first commercial recording studios in Camden where Enrico Caruso, Arturo Toscanini, Sergei Rachmaninoff, Jascha Heifetz, Leopold Stokowski, John Philip Sousa, Woody Guthrie, Jimmie Rodgers, Fats Waller & The Carter Family among many others, made famous recordings. General Electric reacquired RCA and the remaining Camden factories in 1986.

In 1919, plans for the Delaware River Bridge were enacted as a means to reduce ferry traffic between Camden and Philadelphia. The bridge was estimated to cost $29 million, but the total cost at the end of the project was $37,103,765.42. New Jersey and Pennsylvania would each pay half of the final cost for the bridge. The bridge was opened at midnight on July 1, 1926. Thirty years later, in 1956 the bridge was renamed to the Benjamin Franklin Bridge.

During the 1930s, Camden faced a decline in economic prosperity due to the Great Depression. By the mid-1930s, the city had to pay its workers in scrip because they could not pay them in currency. Camden's industrial foundation kept the city from going bankrupt. Major corporations such as RCA Victor, Campbell's Soup and New York Shipbuilding Corporation employed close to 25,000 people in Camden through the depression years. New companies were also being created during this time. On June 6, 1933, the city hosted America's first drive-in movie theater.

Between 1929 and 1957, Camden Central Airport was active; during the 1930s, it was Philadelphia's main airport. It was located in Pennsauken Township, on the north bank of the Cooper River. Its terminal building was beside what became known as Airport Circle.

Camden's ethnic demographic shifted dramatically at the beginning of the twentieth century. German, British, and Irish immigrants made up the majority of the city at the beginning of the second half of the nineteenth century. By 1920, Italian and Eastern European immigrants had become the majority of the population. African Americans had also been present in Camden since the 1830s. The migration of African Americans from the south increased during World War II. The different ethnic groups began to form segregated communities within the city and around religious organizations. Communities formed around figures such as Tony Mecca from the Italian neighborhood, Mario Rodriguez from the Puerto Rican neighborhood, and Ulysses Wiggins from the African American neighborhood.

After close to 50 years of economic and industrial growth, the city of Camden experienced a period of economic stagnation and deindustrialization: after reaching a peak of 43,267 manufacturing jobs in 1950, there was an almost continuous decline to a new low of 10,200 manufacturing jobs in the city by 1982. With this industrial decline came a plummet in population: in 1950 there were 124,555 residents, compared to just 84,910 in 1980.

The city experienced white flight, as many White residents left the city for such segregated suburbs as Cherry Hill. The 1970 United States Census showed a loss of 15,000 residents, which reflected an increase of almost 50% in the number of Black residents, which grew from 27,700 to 40,000, and a simultaneous decline of 30% in the city's white population, which dropped from 89,000 to 61,000. Cherry Hill saw its population double to 64,000, which was 98.7% White. The city's population, which had been 59.8% White and 39.1% Black in 1970, was 30.6% White, 53.0% Black and 15.7% Other Race in 1980. By 1990, the balance was 19.0% White, 56.4% Black and 22.9% Other Race.

Alongside these declines, civil unrest and criminal activity rose in the city. From 1981 to 1990, mayor Randy Primas fought to renew the city economically. Ultimately Primas had not secured Camden's economic future as his successor, mayor Milton Milan, declared bankruptcy for the city in July 1999.

After WWII, Camden's biggest manufacturing companies, RCA Victor and the Campbell Soup Company, decentralized their production operations. This period of capital flight was a means to regain control from Unionized workers and to avoid the rising labor costs unions demanded from the company. Campbell's kept its corporate headquarters in Camden, but the bulk of its cannery production was located elsewhere after a union worker's strike in 1934. Local South Jersey tomatoes were replaced in 1979 by Californian industrially produced tomato paste.

During the 1940s, RCA Victor began relocating some production to rural Indiana to employ low-wage ethnic Scottish-Irish workers and since 1968, has employed Mexican workers from Chihuahua.

The NY Shipbuilding Corporation, founded in 1899, shut down in 1967 due to mismanagement, unrest amongst labor workers, construction accidents, and a low demand for shipbuilding. When NY ship shut down, Camden lost its largest postwar employer.

The opening of the Cherry Hill Mall in 1961 increased Cherry Hill's property value while decreasing Camden's. Enclosed suburban malls, especially ones like Cherry Hill's, which boasted well-lit parking lots and babysitting services, were preferred by white middle-class over Philadelphia's central business district. Cherry Hill became the designated regional retail destination. The mall, as well as the Garden State Racetrack, the Cherry Hill Inn, and the Hawaiian Cottage Cafe, attracted the white middle class of Camden to the suburbs initially.

Manufacturing companies were not the only businesses that were hit. After they left Camden and outsourced their production, White-collar companies and workers followed suit, leaving for the newly constructed offices of Cherry Hill.

Approximately ten million cans of soup were produced at Campbell's per day. This put additional stress on cannery workers who already faced dangerous conditions in an outmoded, hot and noisy factory. The Dorrance family, founders of Campbell's, made an immense amount of profit while lowering the costs of production.

The initial union strikes' intention was to gain union recognition, which they earned in 1940. Several other strikes would follow the next several decades, all demanding increased pay. Campbell's started hiring seasonal workers, immigrants, and contingent labor, the latter of which they would fire 8 weeks after hiring.

On September 6, 1949, mass murderer Howard Unruh went on a killing spree in his Camden neighborhood killing 13 people. Unruh, who was convicted and subsequently confined to a state psychiatric facility, died on October 19, 2009.

A civilian and a police officer were killed in a September 1969 riot, which broke out in response to accusation of police brutality. Two years later, public disorder returned with widespread riots in August 1971, following the death of a Puerto Rican motorist at the hands of white police officers. When the officers were not charged, Hispanic residents took to the streets and called for the suspension of those involved. The officers were ultimately charged, but remained on the job and tensions soon flared. On the night of August 19, 1971, riots erupted, and sections of Downtown were looted and torched over the next three days. Fifteen major fires were set before order was restored, and ninety people were injured. City officials ended up suspending the officers responsible for the death of the motorist, but they were later acquitted by a jury.

The Camden 28 were a group of anti-Vietnam War activists who, in 1971, planned and executed a raid on the Camden draft board, resulting in a high-profile trial against the activists that was seen by many as a referendum on the Vietnam War in which 17 of the defendants were acquitted by a jury even though they admitted having participated in the break-in.

In 1996, Governor of New Jersey Christine Todd Whitman frisked Sherron Rolax, a 16-year-old African-American youth, an event which was captured in an infamous photograph. Rolax alleged his civil rights were violated and sued the state of New Jersey. His suit was later dismissed.

In 1981, Randy Primas was elected mayor of Camden, but entered office "haunted by the overpowering legacy of financial disinvestment." Following his election, the state of New Jersey closed the $4.6 million deficit that Primas had inherited, but also decided that Primas should lose budgetary control until he began providing the state with monthly financial statements, among other requirements. When he regained control, Primas had limited options regarding how to close the deficit, and so in an attempt to renew Camden, Primas campaigned for the city to adopt a prison and a trash-to-steam incinerator. While these two industries would provide some financial security for the city, the proposals did not go over well with residents, who overwhelmingly opposed both the prison and the incinerator.

While the proposed prison, which was to be located on the North Camden Waterfront, would generate $3.4 million for Camden, Primas faced extreme disapproval from residents. Many believed that a prison in the neighborhood would negatively affect North Camden's "already precarious economic situation." Primas, however, was wholly concerned with the economic benefits: he told The New York Times, "The prison was a purely economic decision on my part." Eventually, on August 12, 1985, the Riverfront State Prison opened its doors.

Camden residents also objected to the trash-to-steam incinerator, which was another proposed industry. Once again, Primas "...was motivated by fiscal more than social concerns," and he faced heavy opposition from Concerned Citizens of North Camden (CCNC) and from Michael Doyle, who was so opposed to the plant that he appeared on CBS's 60 Minutes, saying "Camden has the biggest concentration of people in all the county, and yet there is where they're going to send in this sewage... ...everytime you flush, you send to Camden, to Camden, to Camden." Despite this opposition, which eventually culminated in protests, "the county proceeded to present the city of Camden with a check for $1 million in March 1989, in exchange for the 18 acres (7.3 ha) of city-owned land where the new facility was to be built... ...The $112 million plant finally fired up for the first time in March 1991."

Despite the declines in industry and population, other changes to the city took place during this period:

Originally the city's main industry was manufacturing, and in recent years Camden has shifted its focus to education and medicine in an attempt to revitalize itself. Of the top employers in Camden, many are education and/or healthcare providers: Cooper University Hospital, Cooper Medical School of Rowan University, Rowan University, Rutgers University-Camden, Camden County College, Virtua, Our Lady of Lourdes Medical Center, and CAMcare are all top employers. The eds and meds industry itself is the single largest source of jobs in the city: of the roughly 25,000 jobs in the city, 7,500 (30%) of them come from eds and meds institutions. The second-largest source of jobs in Camden is the retail trade industry, which provides roughly 3,000 (12%) jobs. While already the largest employer in the city, the eds and meds industry in Camden is growing and is doing so despite falling population and total employment: From 2000 to 2014, population and total employment in Camden fell by 3% and 10% respectively, but eds and meds employment grew by 67%.

Despite previous failures to transform the Camden Waterfront, in September 2015 Liberty Property Trust and Mayor Dana Redd announced an $830 million plan to rehabilitate the Waterfront. The project, which is the biggest private investment in the city's history, aims to redevelop 26 acres (11 ha) of land south of the Ben Franklin Bridge and includes plans for 1.5 million square feet of commercial space, 211 residences, a 130-room hotel, more than 4,000 parking spaces, a downtown shuttle bus, a new ferry stop, a riverfront park, and two new roads. The project is a modification of a previous $1 billion proposal by Liberty Property Trust, which would have redeveloped 37.2 acres (15.1 ha) and would have included 500,000 square feet (46,000 m²) of commercial space, 1,600 homes, and a 140-room hotel. On March 11, 2016, the New Jersey Economic Development Authority approved the modified plans and officials like Timothy J. Lizura of the NJEDA expressed their enthusiasm: "It's definitely a new day in Camden. For 20 years, we've tried to redevelop that city, and we finally have the traction between a very competent mayor's office, the county police force, all the educational reforms going on, and now the corporate interest. It really is the right ingredient for changing a paradigm which has been a wreck."

In 2013, the New Jersey Economic Development Authority created the New Jersey Economic Opportunity Act, which provides incentives for companies to relocate to or remain in economically struggling locations in the state. These incentives largely come in the form of tax breaks, which are payable over 10 years and are equivalent to a project's cost. According to The New York Times, "...the program has stimulated investment of about $1 billion and created or retained 7,600 jobs in Camden." This NJEDA incentive package has been used by organizations and firms such as the Philadelphia 76ers, Subaru of America, Lockheed Martin, and Holtec International.

In late 2014 the Philadelphia 76ers broke ground in Camden (across the street from the BB&T Pavilion) to construct a new 125,000-square-foot training complex. The Sixers Training Complex includes an office building and a 66,230-square-foot basketball facility with two regulation-size basketball courts, a 2,800-square-foot locker room, and a 7,000-square-foot roof deck. The $83 million complex had its grand opening on September 23, 2016, and was expected to provide 250 jobs for the city of Camden.

Also in late 2014, Subaru of America announced that in an effort to consolidate their operations, their new 250,000-square-foot (23,000 m²) headquarters would be located in Camden. The $118 million project broke ground in December 2015 but was put on hold in mid-2016 because the original plans for the complex had sewage and waste water being pumped into an outdated sewage system. Adjustments to the plans were made and the project was expected to be completed in 2017, creating up to 500 jobs in the city upon completion. The building was completed in April 2018. The company also said that it would donate 50 cherry trees to the city and aim to follow a "zero landfill" policy in which all waste from the offices would be either reduced, reused, or recycled.

Several smaller-scale projects and transitions also took place during the 21st century.

In preparation for the 2000 Republican National Convention in Philadelphia, various strip clubs, hotels, and other businesses along Admiral Wilson Boulevard were torn down in 1999, and a park that once existed along the road was replenished.

In 2004, conversion of the old RCA Victor Building 17 to The Victor, an upscale apartment building was completed. The same year, the River LINE, between the Entertainment Center at the Waterfront in Camden and the Transit Center in Trenton, was opened, with a stop directly across from The Victor.

In 2010, massive police corruption was exposed that resulted in the convictions of several policemen, dismissals of 185 criminal cases, and lawsuit settlements totaling $3.5 million that were paid to 88 victims. On May 1, 2013, the Camden Police Department was dissolved and the newly formed Camden County Police Department took over full responsibility for policing the city. This move was met with some disapproval from residents of both the city and county.

As of 2019, numerous projects were underway downtown and along the waterfront.

As of 2006, 52% of the city's residents lived in poverty, one of the highest rates in the nation. The city had a median household income of $18,007, the lowest of all U.S. communities with populations of more than 65,000 residents, making it America's poorest city. A group of poor Camden residents were the subject of a 20/20 special on poverty in America broadcast on January 26, 2007, in which Diane Sawyer profiled the lives of three young children growing up in Camden. A follow-up was shown on November 9, 2007.

In 2011, Camden's unemployment rate was 19.6%, compared with 10.6% in Camden County as a whole. As of 2009, the unemployment rate in Camden was 19.2%, compared to the 10% overall unemployment rate for Burlington, Camden and Gloucester counties and a rate of 8.4% in Philadelphia and the four surrounding counties in Southeastern Pennsylvania.

The 2010 United States Census counted 77,344 people, 24,475 households, and 16,912 families in the city. The population density was 8,669.6 per square mile (3,347.4/km²). There were 28,358 housing units at an average density of 3,178.7 per square mile (1,227.3/km²). The racial makeup was 17.59% (13,602) White, 48.07% (37,180) Black or African American, 0.76% (588) Native American, 2.12% (1,637) Asian, 0.06% (48) Pacific Islander, 27.57% (21,323) from other races, and 3.83% (2,966) from two or more races. Hispanic or Latino of any race were 47.04% (36,379) of the population. The Hispanic population of 36,379 was the tenth-highest of any municipality in New Jersey and the proportion of 47.0% was the state's 16th-highest percentage. The Puerto Rican population was 30.7%.

Of the 24,475 households, 37.9% had children under the age of 18; 22.3% were married couples living together; 37.9% had a female householder with no husband present and 30.9% were non-families. Of all households, 24.8% were made up of individuals and 7.4% had someone living alone who was 65 years of age or older. The average household size was 3.02 and the average family size was 3.56.

31.0% of the population were under the age of 18, 13.1% from 18 to 24, 28.0% from 25 to 44, 20.3% from 45 to 64, and 7.6% who were 65 years of age or older. The median age was 28.5 years. For every 100 females, the population had 94.7 males. For every 100 females ages 18 and older there were 91.0 males.

The city of Camden was 47% Hispanic of any race, 44% non-Hispanic black, 6% non-Hispanic white, and 3% other. Camden is predominately populated by African Americans and Puerto Ricans.

The Census Bureau's 2006–2010 American Community Survey showed that (in 2010 inflation-adjusted dollars) median household income was $27,027 (with a margin of error of +/- $912) and the median family income was $29,118 (+/- $1,296). Males had a median income of $27,987 (+/- $1,840) versus $26,624 (+/- $1,155) for females. The per capita income for the city was $12,807 (+/- $429). About 33.5% of families and 36.1% of the population were below the poverty line, including 50.3% of those under age 18 and 26.2% of those age 65 or over.

As of the 2000 United States Census there were 79,904 people, 24,177 households, and 17,431 families residing in the city. The population density was 9,057.0 people per square mile (3,497.9/km²). There were 29,769 housing units at an average density of 3,374.3 units per square mile (1,303.2/km²). The racial makeup of the city was 16.84% White, 53.35% African American, 0.54% Native American, 2.45% Asian, 0.07% Pacific Islander, 22.83% from other races, and 3.92% from two or more races. 38.82% of the population were Hispanic or Latino of any race.

There were 24,177 households, out of which 42.2% had children under the age of 18 living with them, 26.1% were married couples living together, 37.7% had a female householder with no husband present, and 27.9% were non-families. 22.5% of all households were made up of individuals, and 7.8% had someone living alone who was 65 years of age or older. The average household size was 3.52 and the average family size was 4.00.

In the city, the population is quite young with 34.6% under the age of 18, 12.0% from 18 to 24, 29.5% from 25 to 44, 16.3% from 45 to 64, and 7.6% who were 65 years of age or older. The median age was 27 years. For every 100 females, there were 94.3 males. For every 100 females age 18 and over, there were 90.0 males.

The median income for a household in the city was $23,421, and the median income for a family was $24,612. Males had a median income of $25,624 versus $21,411 for females. The per capita income for the city is $9,815. 35.5% of the population and 32.8% of families were below the poverty line. 45.5% of those under the age of 18 and 23.8% of those 65 and older were living below the poverty line.

In the 2000 Census, 30.85% of Camden residents identified themselves as being of Puerto Rican heritage. This was the third-highest proportion of Puerto Ricans in a municipality on the United States mainland, behind only Holyoke, Massachusetts and Hartford, Connecticut, for all communities in which 1,000 or more people listed an ancestry group.

Camden has religious institutions including many churches and their associated non-profit organizations and community centers such as the Little Rock Baptist Church in the Parkside section of Camden, First Nazarene Baptist Church, Kaighn Avenue Baptist Church, and the Parkside United Methodist Church. Other congregations that are active now are Newton Monthly Meeting of the Religious Society of Friends, on Haddon Avenue and Cooper Street and the Masjid at 1231 Mechanic St, Camden, NJ 08104 .

The first Scientology church was incorporated in December 1953 in Camden by L. Ron Hubbard, his wife Mary Sue Hubbard, and John Galusha.

Father Michael Doyle, the pastor of Sacred Heart Catholic Church located in South Camden, has played a large role in Camden's spiritual and social history. In 1971, Doyle was part of the Camden 28, a group of anti-Vietnam War activists who planned to raid a draft board office in the city. This is noted by many as the start of Doyle's activities as a radical 'Catholic Left'. Following these activities, Monsignor Doyle went on to become the pastor of Sacred Heart Church, remaining known for his poetry and activism. Monsignor Doyle and the Sacred Heart Church's main mission is to form a connection between the primarily white suburban surrounding areas and the inner-city of Camden.

In 1982, Father Mark Aita of Holy Name of Camden founded the St. Luke's Catholic Medical Services. Aita, a medical doctor and a member of the Society of Jesus, created the first medical system in Camden that did not use rotating primary care physicians. Since its conception, St. Luke's has grown to include Patient Education Classes as well as home medical services, aiding over seven thousand Camden residents.