I want to reiterate op - the moment you asked him to stop and he did not, he was raping you. Thirty seconds of unwanted sex is rape.
I've asked dp to stop many times. Every time, no matter how "close" he was, he stopped immediately. If all I said was 'Ow' he would stop mid-thrust, even if all I did was make a face. In fact many times I've made a 'different' sound inadvertently and he's stopped to ask if I was ok, if that was a sound of pain, if I wanted to continue. If I do stop sex, he kisses me, assures me it's completely fine, cuddles me, strokes my back, absolutely is romantic and loving toward me, not caring a whit that he didn't get off.
It sounds like your husband was emotionally and verbally abusive to you in the past, and then realized he could have even more power over you by switching to sexual abuse.
There are sex acts I have never, and will never, do with my dp because I am uncomfortable and have no interest in them. I know he has done this with women in the past and has enjoyed it. He has stated that he would never ask or pressure me for that act, that he will go the rest of his lifetime without that because I don't want that, that the only way we would ever do it is if I approached him and asked for it. He would not want to do anything with me I did not want for myself, he would not want me to do it "for him". Rapists can get their jollies by having unwanted sex that their partner isn't enjoying. Normal men do not have or want sex that way.
Don't latch onto rolos post or think that is at all accurate. His attitude is that of your abusive husband.
It sounds like you're beginning to realize your husband's abuse, and that is so great. As othe floaters have said, you're halfway there. The advice given here has been great, outside of rolos post, and I hope you follow it. Contact organizations that can offer advice and support.
None of this is your fault, but you now have the chance to give your daughter better. Children are so perceptive. You don't want her to grow into a woman thinking your husband's behavior is normal, that she is an object for men to use. Take her and run, and show her the kind of strong woman she can grow into. Leaving can be a long, extremely difficult process, but I believe you can do it, op. You and your daughter deserve better.