Define a mapping between REST resource name and kind/apiVersion

Allows clients to abstractly map user input to generic resource
paths as per docs/api-conventions.md

Extracted from #2000 and supports #1958
> (i.e. if I give you "nodes" on the command line, I need to select the preferred API version that matches that, which should be v1beta1 Minions)

Ugh. Need to think about this. Not sure what behavior should be if both client and server support all the versions involved.