When Peter describes the Law as a “yoke” on the Gentiles he is not necessarily criticizing the Law. In Judaism, the idea of being “yoked” to the Law is a positive image, although there is often the implication of completeness – if you are yoked to the Law, you are required to keep it all (Bock, Acts, 501). To live under the yoke of the Torah or yoke of Wisdom was to live as God intended!
Sirach 51:26 Put your neck under (wisdom’s) yoke, and let your souls receive instruction; it is to be found close by.
PsSol 7.8-9 For you will have compassion on the people Israel forever and you will not reject (them); And we are under your yoke forever, and (under) the whip of your discipline.
m.Aboth 3:5 R. Nehunya b. Haqqaneh says, “From whoever accepts upon himself the yoke of Torah do they remove the yoke of the state and the yoke of hard labor. And upon whoever removes from himself the yoke of the Torah do they lay the yoke of the state and the yoke of hard labor.”
m.Ber 2.2 Said R. Joshua b. Qorha, “Why does [the passage of] Shema precede [that of] And it shall come to pass [if you keep my commandments]? So that one may first accept upon himself the yoke of the kingdom of heaven and afterwards may accept the yoke of the commandments.
Despite being given the Law, Peter says the forefathers were never able to “bear the yoke.” Luke 11:46 uses a similar phrase with respect to the traditions of the Pharisees, so it is possible Peter has “beyond the Torah” traditions in mind. I really cannot see the requirement of circumcision for converts to Judaism as one of these sorts of burdens, however.
What is more, Peter calls the imposition of law on the Gentiles “testing God.” Luke used πειράζω in Acts 5:9, Sapphira “tests” the Holy Spirit.” To “test God” is to invite disaster! Like Gamaliel’s advice to the Sanhedrin, perhaps it is better to let Paul continue rather than to be on the wrong side of God’s work in this new age. In fact, Peter has already learned God accepts Gentiles without circumcision when the Holy Spirit fell on Cornelius (before circumcision and before baptism!) For Peter, it is dangerous for the Jerusalem community to impose the Law on these new Gentile converts.
Peter therefore is agreeing with Paul, God saves both Jew and Gentile by faith. But God has only given the Law to Israel, not the Gentiles. He agrees with Paul’s claim that Gentiles are not converts to Judaism, although he may stop short of agreeing that Jews and Gentiles both are converts to something new, a new people of God which Paul will later call the “body of Christ” (Eph 3:1-6). Peter is not saying that Jews ought to disregard Law, but only that Gentiles ought not be given this additional burden.