There's a short animated film by Hanna-Barbera called 'The Banana Splits in: When you don't brush your teeth'. The only thing I could find on it was a few production cels.
I also read somewhere that Hanna-Barbera released a series of educational PSAs sometime in the 70s, so this very well could be one of them.
Oh boy, this may be a tough one to find, considering that VCRs and Betamax recorders were far and few between in the 70's. But hopefully someone does have this PSA!
Upon further inspection, this short was apparently apart of a series of education shorts created by Hanna-Barbera from 1978-1980 called 'Hanna-Barbera Educational Filmstrips'. The short in question is most likely a segment in one of the shorts titled 'Healthy and Happy' which features the Banana Splits.