When posed as a simple ROR question, it's STILL not 100% clear-cut. I depends upon three things that I can think of (and probably more):
1) The skill level of the players. A good rule of thumb to follow for this is:
On the average, the lowest limit games in a casino attract the weakest players, and the highest limits attract the 2nd weakest. The middle limits are usually the toughest, because they are often frequented by pretty good players who are trying to build BRs.
2) The maximum rake. The 5% and 10% figures are often misleading, because in almost ALL poker rooms the MAX rake is the same. For example, if the max rake is $5 and the players at both games are building pots of $100 and more, the rake is going to be the same for either game.
3) Your playing style. If you like to play the small ball game, where you're trying to pick up a lot of small pots; you would probably want to lean toward the 5% game. If you like to sit back & wait for the big pots (or build them YOURSELF), you'd lean toward the latter game.
And don't forget: NONE of these precepts are ABSOLUTE. They will usually be present in varying degrees, AND they will also be co-dependent upon each other.