Abusive Father - My Mom Is Disabled And I'm In College Full-time

Location: Riverside County in California

I'm 21F living with my parents going to college full time and for my entire life my dad has been abusive, especially towards my mother. I want to make it clear why I haven't contacted authorities; it's because if my dad doesn't get arrested or dealt with the first around receiving outside help, it's like a 100% chance he'll take our lives, or severely harm us.

Today he not only defaced some of my mom's only belongings (he doesn't let her have many belongings, especially after some fights), but he also beat her and verbally abused her over not handling bills and my tuition in the specific way he would've done so. He yelled at me too for not making money when he knows I'm focusing on college, and punched me in the back because of the money spent on me while I don't have a job.

She received help from her father for my tuition and didn't tell my dad, which she didn't need to hide, yes, but I don't believe it warranted such a big reaction, same with many things in the past.

I want to know what I can do to get my mom and I out of this situation once and for all. I have a voice recording of most of these events today, and I likely have a bruise forming on my back; are these things enough to get him arrested? Do I need to call them while he's in the act? Do I need to contact domestic services?

I also want to say that my mother has hidden and lies about financial matters in the past regarding debt and anything else related, but I don't feel like that has ever warranted getting beat physically and verbally and having her belongings destroyed and thrown away. He's threatened divorce many times, heavily today, and has threatened to kill her, both on and off the voice recording. What can I, a jobless 21F college student do? I'm very afraid for us, especially tonight.