I've used citric acid in as strong a solution as 25%. Etching becomes an issue with prolonged soaking. If take the piece out every 20 mins or so and scrub it, you'll know when you can stop.
The other great way to remove rust is mechanically: I chuck a fine wire cup brush in my drill press (or lathe) and then buff the oxidation and residual rust off. This works great on screws. Just wear heavy gloves.