What's a good product to get the rust off bikes?

Hi! We just bought some second hand bikes today, since ours were recently stolen from our shed. (!!) They're in good shape, just got a little rust on them, and I was wondering what would be a good product to clean them up? Someone suggested SOS steel wool pads. Not on the paint obviously, but on the metal parts. Would that really take the rust off? Is there anything better? Thanks!
 
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