"There are ten books."
more about the counter ～冊 here:
As I understand it, "no" is used when making something a set, type or series. So your first example would be like "there is a specific set of five books" vs a more general "There are five books". This also applies to descriptive nouns like saying nihon no kuruma would be "japanese cars", categorizing cars that are japanese as a specific type of car. (Because to say a "cars that are japanese" sounds a bit strange, like the cars are citizens rather than a category)