Ok there are two options OP.
One is: Split up from this abusive man. (He is not 'a little bit abusive'. It's like being a 'little bit pregnant' - you either are or you aren't.)
Two is: 'Stay with this abusive man'.
There is no option 3 since he is an abusive man.
But let's see how this 'Stay' scenario would work....
It feels ridiculous even supposing this for you.
Ok so supposing you have the 'Come to Jesus' chat. You tell him that his recent behaviour is unacceptable. That his rough treatment of DS was unacceptable and that him verbally abusing you and humiliating you in front of family members was truly awful and unacceptable also.
Let us suppose that he puts his head in his hands and says, despairingly, 'Yes, I know you're right. I can't bear it that I treated you and DS so badly. I promised that I would never do that again the last time and now I have let you down again. I can't believe I did that. I love you so much, please tell me what I can do to make it right?'
Dilemma 1: What do you say to that? What can he do to make that right? He's made promises before. He's been on a perp programme before. What can he do? Assuming you can think of something... he will grasp that in both hands and say "Yes, yes, anything - I can see that I have been abusive to both you and the children, I will do [that thing] and I promise I will never abuse you again.
Please, please, please forgive me, you are the best thing in my life and I don't deserve you. You are my soulmate, we'll grow old together etc. etc.'
So you carry on. He reforms completely. He is perfect husband to all intents and purposes. But in the back of your mind you are always wary. You are wondering what will happen when DS hits 14 or 15 and starts being a totally unreasonable, totally normal adolescent. Do you fear for him? Do you shush him? Do you say 'don't go near your father' 'don't wind up your father' 'don't do anything teenager-y? And your behaviour will have changed forever. You won't know who you used to be because you self-censor and you self-monitor all the time.
There you go OP. Happy ever after.
The thing is... and I speak as someone who loved her abusive DH until I realised he actually hated me... is that you may love him, but he doesn't love you. Not love in the way that you or I or normal, reasonable people understand it. He doesn't respect you as an equal, you are to be bullied. It's open season on you. He exhibits hatred towards you, you can only conclude that, actually, he does hate you. He is not out of control, he does not have anger management issues. The fact that he chooses to bully only family members - mainly you for the time being - shows that he is totally in control and he chooses to bully you. He doesn't do this at work. He doesn't do this to his friends. He does this to you. There is only one decision here for you OP. I'm really sorry, but you've done this all before and you know really, that he has no respect for you to treat you so badly, no matter what comes out of his mouth.
And to be sure... he hasn't put his head in his hands and apologised completely. No, in fact, he has blamed YOU.