I went through years of denial, believing all of the abject apologies. But my children were never harmed, at least not directly.
Face it, he is not going to change. Your children, and you yourself, can be permanently damaged. My husband, in an angry moment, yelled and shoved over the living room couch, barely missing the 4 year old child sitting nearby on the floor. Her reaction – later that day she said to me “when I grow up, I am going to be a good wife and listen to my husband”. That was an ‘ah-hah’ moment. (By the way, she is now grown up and married, and not afraid to express her feelings.)
You can call the Shalom Task Force to discuss your situation. No one will force you to leave, but they can help you to sort things out. You can speak to them anonymously. You can pack an overnight bag with supplies for you and your family, and leave it with a friend. You are stronger than you think. Airing your problem on this forum is a first step. Take the next step, even a small one, and you will find the strength to go on.
The hardest part is making the decision. In my case, I asked my husband to leave and move out, and he did. It was many years ago, and I have never, never, regretted it. He yelled so many mean things when he was angry, I was embarrassed and humiliated, I thought anyone within earshot would believe those terrible things. What I remember, and what gave me chizuk in the weeks and months afterward, was my neighbors telling me how happy they were that he was gone, and people telling me how much younger I looked – like a great weight had been lifted from my shoulders.