there are varying degrees here... it can be as aggressive as muriatic acid to phosphoric acid to vinegar.. or even molasses in some cases...
first thing I'll say is, you would be wise to just remove as much as possible mechanically.... a DA sander with 80 to 150 can get to 80% of a cage... hand sanding with a scuffpad/paper can more than likely get another 15%.. it will be the best, and most trouble-free way to do it... yes, it's some work, but trust me you'll be working, scrambling just as much doing acid.. and still need to sand it anyway...
if you do decide on an acid approach, vinegar is the mildest, slowest, safest method.... best mixed with baking soda and salt... that said, roll cage tube is not exactly an easy thing to do.. the best way is to keep it saturated, if something can't be soaked, usually the best approach is soaked rags laying on, wrapping it, and to reapply when it starts to dry.... than you come in with a scuff pad, steel wool, or even tin foil....
phosphoric is a bit different in it's actually a converter that turns it into iron phosphate.... ospho is the most common brand... but even with ospho, it's best if you can go in after and mechanical remove as much of the phosphate as possible... which, at that point, you should have just spent the time mechanically removing it in the first place.
muriatic or hydrochloric is the most aggressive, it will need to be diluted... as someone who plays with it on an almost daily basis in the marine biz, be forewarned, it is a nasty product.. it will suck the oxygen right out of your lungs... very well ventilated, safety glasses and especially gloves are required...
mil scale.. good luck with that!

only way I know to get it off is mechanically... the DA with 80 to 150 will work thru it... i do like to remove it whenever possible, but you can just sand it and prime/paint too.. I've never tried a nasty acid like muriatic on it, but I'd bet it won't budge it...