a lot of kids have dads who get angry and I don’t believe it automatically means he is dangerous to them
Having a parent who occasionally becomes a bit angry about certain things their children do that are wrong (rudeness, hitting other children, being mean etc.) and who display their anger in appropriate ways is not dangerous for children. Having a parent who often becomes extremely angry about normal childhood behaviours and displays this in intimidating and aggressive ways is very damaging indeed, as people have described upthread.
You are floundering now and repeatedly changing the focus of your attempts to make this all be OK somehow - he's said he'll stop, he hasn't stopped but I can cope with it, I can't cope with it but I don't care about myself any more, he doesn't abuse the children, OK he does abuse the children but it's not all the time, he does abuse the children but lots of men do that (no they don't, by the way), he makes them cry by vacuuming aggressively but that's not damaging for them at all... You know deep down that all of these things are bullshit which is why you are frantically hopping between them, you can't even convince yourself of any of them for very long.
"but please understand I only really come on here to seek support and so I only talk about the ‘worst bits’ and majority of the time they feel a lot of love and happiness from him*
The "worst bits" of your relationship are criminal. Actually illegal behaviour including coercive control, financial abuse and rape. The worst bits of my husband's behaviour are a (usually inconveniently timed) hyperfocus on tasks that could really be done tomorrow and an inability to wipe a work surface thoroughly (he does wash up beautifully though). Nothing the police would be interested in. Nothing that makes our children cry.
The environment your children are being forced to live in and the behaviours they are witnessing are not normal. They are harmful. You can stop this harm to them by leaving and disclosing his abuse to the authorities. You can help your children heal and show them what life should really be like and give them a home that is safe and peaceful and secure and predictable and reliable and calm. But only if you leave. Currently you are continuing to make them live in close proximity to a man who rapes their mother when they are nearby and makes them cry by vacuuming.