I use dental burrs a lot for rustication, also use ball and some of the more pointed burrs as well. I have lots of old bowls and pipes that I practice on before I go to work on a good pipe.
You can do a lot of different things with a dremel when it comes to rustication. From light to heavy and if you take your time you can really do some nice work with one.
One tip, some good tight fitting gloves, as a dremel can remove flesh very quickly.