In reference to Rabbi Ro’i Margalit’s answer regarding defending one’s self from a parent, I would like to ask what one should do if his father hits hard and aggressively in a manner that can cause harm? Sometimes he might humiliate in front of the family...
You should turn to a professional, a rabbi or a welfare authority, your father may have a problem, which exceeds normal parameters of educating children, that needs to be taken care of, and if a certified person will talk to him and they'll work on it together, it would be best for everyone. In your case perhaps it is best to try to avoid your father until he calms down. Rabbi Ro'i Margalit