I use my random orbital sander with 220 grit and some type of lubricant. Caution: this can make the pad on the sander degrade.
So now I use the same setup but with a piece of scotch brite pad.
A mild abrasive flap disk and 4" grinder also works well.
I don't like using wire wheels.
You can also pretreat with vinegar or Evapo Rust. Caution: do not use Ospho!!!