Acid does not remove rust, however the use of phosphoric acid on rust converts the iron oxide to iron phosphate, which in turn can be painted without the fear of rust forming. The iron phosphate...
Vinegar is a dilute solution of acetic acid. Acetic acid will react with rust to form a soluble salt that can be washed away. 3CH3COOH + Fe(OH)3 --> 3H2O + Fe(CH3COOH)3