Hi,
If your goal is to just clean the rust off then Bigshooter42's suggestion is the cheapest and easiest means to get it done. Just lube the rust up with WD40 or some CLP, let it soak for a bit and then hit the rust with steel wool or a scratch pad. it will come off with minor damage to the un-rusted finish.
On the other hand if your worried about damaging the firearms at all then you might want to go all out. Meaning break them down as best you can and sandblasting them. Using a low psi and medium grit media, allows for better control over removal area of affect. This option of course is more time consuming as well as costly.
In the end though you'll have to refinish them and I would have to agree with Rob.308 about the Cerakote finish. The stuff is as tough as nails. They have an oven cured option as well as a air dry option, in case you don't have a curing oven.
Hope the information is helpful.
Regards
Jeremy