G....i would say to go to the counselor anyway, even if he's not with you. explain the situation to the counselor, who can set you up with services (such as the columbus coalition against family violence) who can assist you in getting out of that abusive situation, if that is what you ultimately decide. that decision must come from you, no one can tell you to do it, or you will just keep going back (yes, this advice is from experience). but you need someone to trust, to counsel you.
& you are correct, you are your daughters' advocates & they need you to keep them safe.
i hope things do not escalate any more than they already have (from throwing items to throwing punches, to actually putting your daughter outside).
bottom line is that your husband needs serious anger management help & be held accountable for his abusive words. it's unlikely that he will change without professional help...