The hosts, who elected to bat first on a bright sunny morning, lost two quick wickets with Australia's Mitchell Starc snaring opener Dimuth Karunaratne with the first ball of the match.
Karunaratne tried to put away a juicy half-volley from the left-arm pacer, but failed to keep the ball down and it went straight to Joe Burns at midwicket.
Starc (2-14) struck again in his third over, with Kaushal Silva chasing a widish delivery that was safely taken by wicketkeeper Peter Nevill as Sri Lanka slumped to nine for two.
The two batsmen, after settling at the crease, counter-attacked against an aggressive Australian attack which employed three slips and a gully for the first hour of the session.
The left-right batting combination not only worked away singles and twos but also scored regular boundaries at a healthy run-rate of 3.75.
Mendis, who scored a match-winning 176 in the first Test in Pallekele, showed his intent by slog-sweeping the Australian spinner Nathan Lyon for the game's first six in the 14th over.
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