That means some copper atoms leave the penny and start floating around in the liquid. But when these copper atoms leave the penny, they leave some of their electrons behind. Rather than having whole copper atoms in the liquid, you've got copper ions, copper atoms that are missing two electrons. These ions are positively charged. Now add two steel nails and a screw to the mixture.
Steel is a metal made by combining iron, other metals, and carbon.
As you found out when you cleaned your pennies, your mixture of salt and vinegar is really good at dissolving metals and metal oxides. When you put the steel nail in the mixture, some of the iron dissolves. Like the copper atoms, each of the iron atoms that dissolves leaves two electrons behind. So you've got positively charged iron ions floating in your vinegar with the positively charged copper ions. The negative charges on the nail attract positive charges in the liquid.