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how can I clean and finish the brass on a metal bed?
Brasso is a good general purpose cleaner.
I would second Spruce's recommendation of Brasso. However, most brass has been sprayed with a protective coating to forestall tarnishing, usually a type of lacquer. You might want to wipe down the brass with lacquer thinner to remove the coating first, It will save you alot of extra rubbing. Brasso is basically a fine rubbing compound in a liquid form.