How can I remove rust from the bottom of my Chevy Cheyenne?

[A Man]

I have a 1995 Chevy Cheyenne, and if you know anything about Cheyennes, they have that distinct huge bar (don't know what it's called) on the underneath of the truck that runs from basically axle to axle. Well anyways, that whole bar is basically all rusted. I was wondering if there were any methods to clean the rust off, and if you know any, I would greatly appreciate the help.