If you have a very large cluster (1000s of machines), Mesos may well be the best fit, as you are likely to want Mesos's support for diverse workloads and the extra assurance of the comparative maturity of the project.
The big difference with Kubernetes is that it enforces a certain application style; you need to understand the various concepts (pods, labels, replication controllers) and build your applications to work with those in mind. I haven't seen any figures, but I would expect Kubernetes to scale well for the majority of projects.