Voting under way in dozens of Massachusetts communities

Several mayoral contests and a spirited race to succeed the late Democratic state Sen. Thomas Kennedy of Brockton highlight an otherwise low-key Election Day in Massachusetts.

Polls are open Tuesday in 53 cities and towns.

In the state Senate race, Gov. Charlie Baker has campaigned on behalf of Republican state Rep. Geoff Diehl of Whitman. Diehl is opposed by Democratic Rep. Michael Brady of Brockton, with independent Anna Raduc also on the ballot.

There are also mayoral elections on tap in two dozen communities including Springfield, Worcester, Quincy and in Weymouth, where state Sen. Robert Hedlund is challenging incumbent Mayor Susan Kay.

There is no mayoral election in Boston, with Marty Walsh midway through his first four-year term. There are a handful of contested city council races in the city.

Longtime incumbent City Councilor Charles Yancey appears to be in a battle for his political life. He is challenged by Andrea Campbell, an aide to former Governor Deval Patrick.