If the rudder feels solid I wouldn't get too
excited about the rust stains. Hold the rudder with good gloves on and get a friend to push back and forth on the tiller (sloooowly). If it feels good and solid, drill a hole as suggested by others here. If really ugly rusty water comes out, get some hands on opinions from tech friends you trust (more experience owning boats the better. Ignore advice from books, magazines and folks who get their opinions from them) before you tear things apart.If nothing, or mildly rusty water comes out and the rudder feels solid, smooth it up as discussed and go sailing.Too many folks tear up their boats when there's nothing wrong in search of some ideal perfect boat. Fix things that need fixing, do normal maintenance, then use your boat. A little rust can make a big stain. If there's a metal frame in your rudder, it has a lot of metal in it. It will give a lot of warning before it fails. Unless you plan a long offshore passage, don't worry until you have a real reson.