Don't feel bad, whilst there are many abusive men out there from what I read on here, only a smallish number are rapists too.
Control and anger are the key here, also the implicit threat that he might totally lose it and hurt you if you don't stay in line.
Your mum has most likely seen him clearly so wanted it known to you she was there.
A great woman.
I'm older, like your mum😁, as are many posters and can often very quickly join dots.
I really agree that he is now very unpredictable, and potentially dangerous having crossed a line of moral decency.
I definitely don't wish to scare you, but he will not like the possibility of being exposed.
I think you need to tell your GP and a solicitor and get yourself to your mothers as soon as you can.
When you are gone you can tell him why you have left.
Going for a prosecution is a separate thing and up to you only.
However, when at your mothers, you can tell the police you have fled the family home because of a rape and fear of his anger and what he might do to you and the girls.
Ultimately he is a big bully.
Him knowing people know takes away his power.
He intimidated you to keep you silent.
When people know, bullys like him get scared.
I wouldn't tell him you are going either.
Let him head to work, have stuff easy to grab, and go.
Take important paperwork etc., and the childrens comfort toys.
Stuff can be collected at a later date.
Are you in the UK?