AC cable for DC applications
You can definitely use it. Please consider the resistance of the cable. The ohmic losses will reduce the 24 V supply voltage to a lower level at the remote end. If the resistance is 5 ohms for example, in total ohmic losses will be twice the 5 ohms multiplied by the DC current. If that is accounted, then your application should run fine.   

Shielded cables have good benefits of being immune to noise as well as not being a good noise transmitter. If the cables are shielded, well and good. If not, you should be ready to investigate(and adapt design) in detail for noise immunity and noise emission topics.