Lots of ways suggested above. All good for their practitioners! A Dremel / flex shaft with speed control is useful. The thin brass and stainless steel brushes do a good job. Again, the bristles of the metal brushes do break off and I have had to get them out of my feet later because, for light, I used the Kitchen table and the bits went onto the floor.
Any tool works for many jobs, and when learned can be a wonderful aid. Plan ahead!
~Richard