Hard water stains are mineral deposits, mostly calcium and magnesium, left behind when water evaporates. Regular soap and all-purpose cleaners barely touch them. What dissolves them is acid, and the mildest, cheapest acid in your house is white vinegar.

Heat a cup of white vinegar in the microwave until it's warm (not boiling); warm vinegar works noticeably faster. Pour it into a spray bottle, soak the stained area, and let it sit for 10 to 15 minutes. Wipe or scrub with a non-scratch sponge, rinse with water, and dry with a microfiber cloth. Light spots come off on the first pass. Heavy buildup takes two or three rounds.
For crust around a faucet base or spout, soak paper towels in vinegar and wrap them around the fixture, then leave them for 30 to 60 minutes. Scrub the softened deposits with an old toothbrush. For a clogged shower head, fill a plastic bag with vinegar, put it over the head so the nozzles are submerged, and hold it in place with a rubber band overnight. Run hot water through it in the morning.
Glass doors usually have a mix of soap scum and mineral film. Spray with warm vinegar, wait 15 minutes, then scrub with a paste of baking soda and a little water on a non-scratch sponge. The baking soda gives you gentle grit and the vinegar dissolves minerals. Rinse well, then squeegee and dry. If you see etching (a cloudiness that doesn't change when the glass is wet), that's permanent damage to the glass surface, and no cleaner will remove it.
That brown or gray ring at the waterline is mostly minerals. Shut off the water valve behind the toilet and flush to lower the water level, then pour vinegar onto the ring or lay vinegar-soaked paper towels over it. Leave it for an hour, then scrub. For a stubborn ring, a wet pumice stone used gently works on porcelain bowls.
Porcelain and enamel handle vinegar fine. Acrylic and fiberglass tubs do too, but use only a soft sponge on them. For heavy buildup in a sink, a commercial lime and rust remover will work faster than vinegar. Follow the label and rinse well.
Squeegee the shower after each use. Dry faucets with a cloth when you clean the sink. A quick daily-shower spray of equal parts vinegar and water slows buildup. If the stains come back within days, your water is very hard, and a water softener (or at least a filter on the shower head) is the real fix.
An acid dissolves the mineral deposits. Warm white vinegar left on the stain for 10 to 15 minutes, then scrubbed and rinsed, works on most glass, faucets, porcelain and tile. Heavy buildup may need a commercial lime remover.
Spray the glass with warm white vinegar, wait 15 minutes, scrub with a paste of baking soda and water on a non-scratch sponge, then rinse, squeegee and dry.
Yes. If minerals sit on glass for a long time they can etch it, leaving a cloudiness that stays when the glass is wet. Etching is surface damage and cannot be cleaned off.
No. Keep vinegar off marble, granite, travertine, limestone and other natural stone, because the acid etches it, and never mix it with bleach.