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Yellow
Universal Indicator. It turns red as lemon juice is an acid.
Because of the acids
Lemon juice. It has a pH of 2.3, whereas orange juice has a pH of 3.3. What is being cleaned off is the CuO and CuCO3 that forms on the penny. Both O2- and CO32- are bases, so the stronger the acid, the more effectively they will be reacted away. I did a quick online search for the pH of grape juice but did not find anything, but given that it lacks the sour taste that orange and lemon juice have (an indicator of acidity), I would have to assume that it is not as acidic as either lemon or orange juice.
It's possible that the asparagus juice contains an indicator chemical which is reacting to the acid in the lemon juice. (Note that I don't know exactly which indicator is involved, or even if this actually happens; I'm just offering an explanation for the phenomenon you say you've observed.)
lemon has more acid.
Oranges are orange and grapefruits are a lighter color. Grapefruits have a more sour taste, while the orange has a fruitier taste.
tomato juice, orange juice, grape fruit juice, lemon juice, lime juice, and pickle juice also can clean a penny
Grape juice is not the best choice for cleaning pennies. Lemon juice cleans pennies best due to its acidity.
LUMPS OF RICE! will clean your penny sir
orange is gassy and grapes are juicy!
lemon juice