He enjoyed playing piano and listening to classical music and jazz.
Mr. Petersen enjoyed home improvement projects and working in his home workshop. He was a carpenter, electrician and painter, and liked refinishing furniture, laying floors and electrical work.
For more than 30 years, he took an annual family vacation to St. Croix. When he was 65, Mr. Petersen began scuba diving and became interested in underwater photography.
In the 1960s, he was a founder of Phos-Graphein Camera Club and had a home darkroom where he developed both black-and-white and color film.
Since 1941, he had been a communicant of St. James Episcopal Church on Lafayette Square in West Baltimore.
He had been chairman of the Brotherhood of St. Andrew. He held various roles with the Episcopal Diocese of Maryland, including serving as secretary of its Bragg Scholarship Fund.
Mr. Petersen had been a member of the board of trustees of St. James Apartments, which is owned by his church.
On his resume, Mr. Petersen explained his life's goal: "Promoting and encouraging youth to develop self-discipline, respect for others, and to maximize educational opportunities in service to their families, communities and God."
Funeral services will be held at 11 a.m. Friday at his church, 1020 W. Lafayette Ave.
Surviving are his wife of 64 years, the former Marguerite Page, a retired city public school educator; a son, Arthur Everett Petersen Jr. of Baltimore; a grandson; and several nieces and a nephew.