Have a look at the brushes that are sold to clean alloy wheels (and grill/spoke etc) on cars - softish, long bristles, cheap, bendable (wire core), surround bristle 5.1 technology etc
I made a brush-on-a-stick for Jasper using one of these, but since he doesn't climb he won't be able to give feedback
The local BP garage sells a model with a hollow handle ideal for sticking over the end of a pole.