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Immediately after a ride, while my pipe is still hot, I put a glove on my hand and then use mineral spirits and a rag. Shoe marks come right off. Just don't try this with a microfiber cloth. It will melt and create a bigger mess.
I recently had some large black marks on my exhaust pipes. Probably heel marks from my boot. Wouldn't come off with chrome cleaner, so while at the dealer Saturday, I asked the parts guy what he had.
He handed me a stick of "Road Rub". This stuff is magic! Easy to use - just rub it on -- works like a charm. The website (http://www.vanlark.com/) says they don't sell consumer direct, so you'll have to ask around if your dealer doesn't have it.
I had this trouble every time I wore tennis shoes and flip flops... Stopped wearing such stuff and bought a good pair of boots.. no more marks that will not come off without cleaners.. Now I did run into some kind of plastic bag while riding in the rain that has fought me tooth and nail but I am slowly winning.. I am on my 3rd product and I believe this will be it.. Easy Off and HOT pipes..
7 Surprising Harley-Davidson Products that Are Not Motorcycles
Slideshow: The bar-and-shield logo shows up on far more than motorcycles, some of the company's most unexpected products have nothing to do with riding.
Slideshow: From the troubled AMF years to modern misfires, these bikes earned reputations for reliability issues, questionable engineering, or disappointing performance.
Crazy Bunderbike Build Looks Amazing, But Is It Impossible to Ride?
Slideshow: The Swiss custom shop has taken a Harley Softail and stretched it into something so long and low that it looks closer to a rolling sculpture than a conventional motorcycle.
Engraved Rebellion: Inside Bundnerbike's Glam Rock II
Slideshow: A standard cruiser becomes an intricate metal canvas in the hands of a Swiss custom house known for pushing Harley-Davidson platforms far beyond their factory brief.
Slideshow: Harley-Davidson's challenges aren't abstract; they show up in dropping shipments, shrinking dealer traffic, and strategic decisions that aren't yet translating into growth.