I've had mixed results with CLR (available at the grocery). It's funny though becasue on a single stain, it will completely remove part of it and not touch another area. Pour it on, let it dwell, scrub with a stiff brush, and rinse well.
Muriatic acid is the cleaner used for concrete and bricks...you can get it at Lowes or Home depot or any Mason supply store....just follows instructions.....cleans concrete very well....
Yeah, muriatic acid or regular concrete etch/cleaner will work great. Your local hardware store will have it. The etch/cleaner should be with the garage floor paints.