Most any parts store with a paint section will sell an eraser wheel. When I worked as a service tech at a Ford dealer years ago, the detailer used them to remove bumper stickers, and the like off of paint with no damage to the painted surface. Last week when I took my raptor in for an extensive repair, the detail guy was using one! Just chuck it in your cordless drill and let it eat the decal away. A little powdery mess when your done, but it shouldn't take more than 2 minutes to do the decals on a cub.
to answer my own question, a very stiff wire wheel and lots of rpm's peel it right off. then i went over the area with goo-gone. now i just need to decide if i want to spend the money on new ones. i think i will see how my paint job turns out first. primer coat looks good.