The regular vinegar you get in stores (5%) will work fine, it will just take longer. You can also use the other acids mentioned. The advantage of the lower concentrations is that it will be gentler on parts that may have become a bit delicate with corrosion.
Stronger solutions should also be handled with care. Disposal should be done in a safer manner (spashing can burn or cause discomfort). Depending on the strength of the solution, bubbles may form, causing a bit of acidified mist in the area. It's not going to eat away your bench, or anything dramatic, but metal things in the area can start to rust.