The San Francisco Railway Museum
If there are free museums that might interest visitors to San Francisco, then they would be the Cable Car Museum and the San Francisco Railway Museum. Both are devoted to the history of transportation still in use today in the city of San Francis.
I have been to both a few times and this afternoon shortly after checking out the preparations for the Super Bowl City being constructed by the Embarcadero, my partner, Marc, and I popped into the latter for a quick see and visit. The one room museum was filled with visitors reading all the facts and history of the light rail from the early 1900s to the present. Since it was also a gift shop, there were tons of merchandise for sale from post cards to the official caps of the train operators.
Should you find yourself in the area, do go.