In some cases, it doesn't need to be more than a $5 wire brush to get an idea initially. I worked on a project where we thought the rust wasn't too bad, but a simple wire brush cleaning revealed the section was completely perforated. Very exciting stuff. Getting clean down to bare metal can require a lot more effort, but the thoroughness of the required cleaning will depend on your repair method and if you'll be coating the steel afterwards--repaired or not. I was surprised to learn that some coating compounds don't require much cleaning past removing loose rust, paint, and dirt, but it obviously depends on what kind of corrosion resistance you need. I've worked with Sika before and they are very helpful in recommending a coating for the application.