Cleaning mineral specimens: a guide for mineral collectors ...
The first mechanical tool to try is a brass brush. They are available in hardware stores for use as a cleaning tool and for wood refinishers. Make sure you get brass bristles because brass is softer. Brass is between 3.5 and 5 on Moh's scale of hardness. In theory, you can scrub a specimen of any mineral harder than 5 and not damage the specimen.