Citric Acid, it's the most pump and aquarium-safe solution out there. Vinegar can mess up seals and other things, if it gets to the magnet in your pump(s) it can swell them. Citric Acid doesn't have that same drawback. Mix up some Citric Acid solution, soak a few paper towels or hand towels in it, and stick them to the side of the glass, this will allow the CA to soak into whatever it is, and you can wipe it away after it's soaked for a bit (usually 2-3 hours). No need to mix up a ton of it and fill the aquarium, and you can always clean your powerheads and such in the mixing bucket by letting them soak for a bit too.