eloquent filter result based on foreign table attribute

I'm using laravel and eloquent.
Actually I have problems filtering results from a table based on conditions on another table's attributes.
I have 3 tables:

• venue

• city

  
  here are the relationships:
  a city has many locations and a location belongs to a city.
  a location belongs to a venue and a venue has one location.

I have a city_id attribute on locations table, which you may figured out from relationships.

The question is simple:
how can I get those venues which belong to a specific city?
the eloquent query I expect looks like this:
$venues=Venue::with('location')->where('location.city_id',$city->getKey());

Of course that's not gonna work, but seems like this is common task and there would be an eloquent command for it.
Thanks!

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