yes, get out as fast as you can... your daughter is learning this from you and it will repeat in her life. Do it for her if no one else. Collage can wait my friend, take charge of your life and get out. Call the local women's shelter and ask them how you can do this without causing him to react. They should be able to give you lots of advice, counseling and support. It is their job after all.
good luck, my heart goes out to you.
go take care of business