Well, mild steel won't react with a weak acid like vinegar to produce hydrogen, though it may combine and corrode, the same for copper.. If you had a stronger acid, like moderately concentrated sulfuric, or moderately concentrated nitric, you can expect hydrogen gas too. Warning: stronger acids give different reactions. Most likely, your penny experiment is the acetic acid in vinegar attacking the zinc core of a modern penny, seeping past the copper plating at a thin point, or crack, chip, micro-scratch, pore whatever. So you should consider that experiment a reaction between zinc and acetic acid.