The various methods have pros and cons, so which is best varies with circumstances.
Rust is mainly two different Oxides of Iron, both created when Iron and Oxygen react chemically with air. The reaction is accelerated by damp, salt, Carbon Dioxide and other pollutants. Not all rusted objects behave in the same way, so it may be necessary to try different approaches for best results. Red rust expands and is flaky, black rust is solid and unsightly.
Phosphoric acid reacts with both types, converting them into Phosphates. The result can be left in place as a nasty looking black mass, but that’s useful when holes are to be avoided. So this method is good for sheet metal and iron work repairs when holes are unwanted, and paint and putty cover up.
Citric Acid is weak, slow acting, pricey and user-friendly. Easy to clean with water. It dissolves the rust taking the owner back to bare metal, and the acid penetrates below the surface. Good for light clean ups of smallish parts rather than garden gates! Leaves holes though.
Hydrochloric Acid behaves like Citric Acid except it’s stronger, faster acting and cheap. Disadvantages are the need for rubber gloves and eye-protection, plus Chloride ions are left inside micro-cracks in the metal. After about 5 years these detach paint, powder coatings and electroplate causing their protection to fail early. May not matter, but when the finish must last a long time, avoid Hydrochloric Acid.
Sulphuric Acid is cheap and fast and there are no Chloride ions. Much used by industry, but not easily obtained in for hobby use. Don’t expect top quality results from Drain Cleaner because the Sulphuric Acid in it is impure.
Chelating agents put a chemical cage around rust molecules causing them to fall off the rusty body. Often found in proprietary mixes containing chemicals not otherwise available to hobbyists. Good, but pricey, and better at some jobs than others.
Physical rust removal gets back to a clean surface quickly and unlike chemicals no waiting for a slow reaction to complete. And chemicals struggle to get past existing paint, grease and dirt. Unfortunately, physical methods don’t remove subsurface rusting, which is liable to cause trouble years later, typically by lifting paint off from underneath.
Electrolysis is probably the best single method, other than needing a bath and power source. The chemicals are cheap and available. Electricity speeds the chemistry up and the electrolyte penetrates deep into the metal. Fast and effective, able to do both large and small objects.
Very common to find different methods being applied one after the other. For example, when using Citric Acid, it pays to remove as much loose rust and dirt as possible before soaking in acid. Likewise, to wire-brush garden gates before applying Phosphoric Acid.
They all work, but it pays to match the answer to your particular problem. If one doesn’t work well, try another.
What’s done next is also important because newly de-rusted objects start rusting immediately. Paint and electroplating both have to be done quickly. Or apply oil or lanolin pronto.
Dave