Scotch-brite sponge sold in the kitchen supplies section of any grocery store. I usually use the course side of the sponge and some simple green, works great. Sometimes there's black spots that won't come out, in that case a light rub with some red scotch-brite works good. This applies to just the inside of the exhaust tips. I use the same sponge on the soft sponge side with simple green to clean the inside of the wheels behind the spokes.
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