In the prequels we see that both C3PO and R2D2 are Anakin's droids and they clearly both know that he's gone over to the dark side.
I would like to know an in-universe answer for the question; Why did they not tell Luke?
that Vader is Anakin?
Answer
From Wookieepedia:
Organa entrusted R2-D2 and C-3PO to Raymus Antilles, the Captain of the Tantive IV, who was instructed to treat them well and to wipe C-3PO's memory. Although R2-D2's inability to speak basic spared him from experiencing a memory wipe, it did undergo reprogramming to restrict access to the holo-recordings of Leia's birthparents, including Skywalker choking Amidala and her deathbed during delivery, to ensure that Leia's true parentage remained a secret.
I think for C-3PO the situation is clear: After his memory wipe he shouldn't have been able to remember that Vader was Anakin. For R2-D2 it is very likely that the reprogramming prevented him from telling Luke about Skywalker being Vader.
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