Easy to find chemicals like pool cleaner (diluted hydrochloric acid) and stuff like CLR works fine with minimal surface rust. You can also find chemicals from auto restoration companies that are much stronger and work better.
Electrolysis rust removal (with sodium carbonate powder and a car battery charger) also works very well for severe rusted parts; just hard to do larger items.
If I had to do it, I would look into kits made by EastwoodCo or Por-15. Their paints are super durable (automotive grade for use with drivetrain parts) and should last for years.
From my experience, Rustoleum paint is not strong enough for racks and stands. However, plates are usually fine. Even with primer and a few coats the paint always seems to scratch off or chip.