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I don't know if this the "best" way to do this but it's certainly a good way: Get Naval Jelly and steel wool. Spray naval jelly on floor pan and let sit for 30 minutes. Scrub with steel wool until the rust is gone. Wash thoroughly. Then paint with POR 15 or ZeroRust or Rust Bullet. This has worked well for me.
You could also try a product (chemical) called Ospho. I think its actuall called osphorous but I call it Ospho. I tried this stuff on some of my rust spots and it eats it up pretty well. I use it and let it dry then do some general scraping. The label says its paintable but I usualy try and clean it off after it dries.
Well, Metal Ready is a surface rust remover / etcher that helps POR15 (a rust inhibitor) bond with the surface.
Go to www.por15.com and that site will explain the process in detail.
If it's just surface rust, sand paper by hand will work. If it's gotten worse than that, grinder. Best solution, I say media blast. I bought a 50 dollar blaster from www.harborfreight.com and then 100lbs of media for about 50 bucks, and it rocks! It uses a good bit of air from the air compressor, but it gets the metal bare, and is great in pitted areas.