Mix four tablespoons of baking soda in one quart of hot water. There is some disagreement about whether or not baking soda might itself discolor aluminum due to its alkalinity, but it's an effective natural abrasive for removing particles.
Fill your pan with water to the level of the stain and bring the water to a boil. Add two teaspoons of cream of tartar or two tablespoons of vinegar to the water and boil for 10 minutes. If the discoloration doesn't go away, try increasing the cream of tartar to a maximum of two tablespoons.
Use steel wool to remove a really stubborn discoloration, then use fine sandpaper to polish out the scratches created by the steel wool. An alternative is to try silver polish.
Polish your pan with a polishing cream and a dry cloth. Apply a thin coat of wax to prevent future discoloration.