If the cloth dirty (which I assume given your other question re balls), a light vacuuming isn't going to do it. You need to vacuum it well and more than once - just don't use a beater bar or a vacuum with suction so strong you are stretching the cloth. A small shop-rite with a brush attachment is a good choice.
If the cloth is stained, look up Woolite in the forum and look for posts by RealKingCobra - who is grumpy but a top table mechanic - you will see him explain how to remove the stains.
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