Yes, eraser, but only for the gold metal contacts. Ako, I prefer to use acetone to clean the contacts because it removes finger/skin oils. I also use acetone to clean off the Arctic Silver thermal paste from the cpu whenever I have to reseat the heat sink, along with a healthy supply of tissue. Don't use rags because AS is very hard to clean out and AS can be conductive.
Use long haired artist's brushes to clean off dust buildup. You can also use a can of compressed air. DO NOT use any vacuum, especially whose armature is exposed to the airstream. Dust is a very good conductor of static electricity and a spark from the armature can travel from the vacuum to the motherboard.