Hello Misdee, I've lurked on your threads but not really posted however I may be able to help a bit here. I have a background in working in residential care and worked for an agency as a 'home carer' for about 5 years before having my two.
This woman's behaviour sounds completely out of order and if I was a fellow worker I would be approaching the agency.
I don't know about getting her sacked because of her behaviour with you (though if they have had other complaints it may do it) but a formal letter of complaint to the agency, including as much information of times/dates/inappropriate behaviour as possible will get the ball rolling.
I'd write one letter now giving full vent to all your anger then the next day write the 'real' one in as calm and professional way as you can. Send the 2nd one!
If you need any help drafting it, or would like someone to look at it before you send it then CAT me, I can write a mean stroppy letter when I get going!
HTH and good luck.