how to restore steel utensils?

Stainless Steel does not rust in food grade formulas, such as the 300-306L series, 400 grades can rust as they are magnetic, but are not considered food grade. If a magnet sticks to anything that you have rusting, it is not Stainless Steel. And no it is not a coating, Stainless is a solid metal formulation 

stainless is stainless all the way through.  You are talking about plated utensils, that have a chrome finish like a car bumper got a coating of chrome over steel.  Stuff used in restaurants is usually stainless steel.  They NEVER RUST. You could not afford to go to a bumper chrome plating shop to get this replated.  Cheaper to buy stainless steel to begin with.

Look on the backside of the handle and you should see STAINLESS STEEL as well as country of origin.   If there is no markings then they are plated..  Buy the utensils used...in a second hand store.  They don't wear out.

use a small wire brush  in a Dremil rotary tool 

Buy new stuff unless you want to tell guests it is 'rustic'.

No, stainless steel does not have a coating. There are various kinds and grades of stainless steel, and some will rust in some conditions. If things rust, you can scour the rust off but it will come back. It's up to you how much scouring is worth the time.

Stainless steel (ss) does not rust. It can dull sometimes in a dishwasher but all my ss utensils and cook ware are gleaming. Your stuff must be ordinary steel with chrome or nickel plating. This is NOT ss.  Ss is marked with the term. So you need to replace your utensils with genuine ss. This will not tarnish and will last indefinitely.

Steel wool will remove the rust, and there is no coating. Stainless steel is an alloy of low carbon steel that resists rusting with proper care.

Soak them in white vinegar about an hour-more if in Really bad shape. Wash as usual.