The way I see it you got 2 choices;
1. Start working out and beat up your old man the next time he tries to do that shit, or get someone else to do it for you and get that person to threaten your dad in such a way he aint going to hit you (or your mother) again.
2. Talk to child services/the police/whatever.
Alternatively you got the third option;
Wait it out until you can move out and get your own place..
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