The SSPC C-10 Manual for Coating and Surfacing Concrete lists the following methods for profiling Concrete Surfaces:
Acid Etching
Grinding
Abrasive Blast/Shotblasting
Needle Scaling
Scarcifying
Scabbling
Ultra-High Pressure Water Jet
While acid etching may not be the ideal method - it is an accepted, inexpensive, and widely used proven method. It's downsides are that the acid needs to be handled properly, it won't work on some previous coatings, and it can be caustic and corrosive. Read and follow the instructions, and it will do the trick for most DIY situations.
There are alternate "green" chemicals that will do the same job, but without the fumes and other muriatic acid unpleasantries. Generally they will cost more. Some pro commercial jobs spec these special chemicals because there are places where the dust caused by all mechanical prep is not acceptable at any level, and other locations where people, animals, equipment, facilities or greenery can not be exposed to harsher chemicals.
As usual, consult with manufacturer for your particular requirements.