I've basically been using a few different wire brush attachments with my angle grinder. In the tight spots I use a small brush with a drill. Once in a while I'll break out the air dremel with a small sanding disc. It takes a while but it's cleaner than sandblasting and cheaper than having someone else do it (that's a theme with this car - I do all my own stunts).
After it's either bare metal or clean paint, I've been wiping it down with pre-paint cleaner. Then I'm painting it with Zero Rust. When I'm all done under there I will coat the entire undercarriage with roll-on bedliner. The only reason I'm doing this much work is because I'm tired of getting 60 years of dirt and crap in my eyes every time I work on the car.
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