Stormin Mormon soaked rusty pliers in HCl. Rbowman recommended phosphoric acid, sold to etch concrete. That reminded me of naval jelly. I knew it contained phosphoric acid. It also contains a gel and rubbing alcohol. I wonder what the rubbing alcohol does.
I've had some success with vinegar and with vinegar and salt. Now I've read the proper way to use vinegar and salt. Use an inert container such as plastic or glass, big enough for the rusty item. Pour in enough vinegar to cover the item. Stir in an excess of salt. Put an inert spacer on the bottom to keep the steel from contacting the salt. Let the item soak, completely submerged.
Vinegar works, but this mixture also contains HCl. The acetate apparently keeps the HCl from eating the steel. You can pull the item out to inspect and brush. When it's ready, immediately wash and oil.
Phosphoric acid is sold for converting rust (not removing it). I don't know the concentration of the etching stuff, but Ospho is 75%. (Naval jelly is 25-30%.) You brush or spray Ospho on and let it dry. If the surface is badly pitted, you may repeat. If you brush away any white powder, you have a good base to paint.
Ospho says their product can be used if you want to repaint spots where rust is coming through a painted surface, but you should test to see if Ospho damages your paint.
I'm looking forward to trying the proper method of using vinegar and salt.