My father is very verbally abusive and I don't know what to do. Help?

So I don't want to sound like one of those pathetic people that complain about their lives because I know that I'm very blessed and I'm thankful but it's just that my father yells at me all the time and now that I'm older I can handle it and just ignore it sometimes too but sometimes it gets to the point where I can't take it anymore. He yells at me for little things to the point where his voice gets hoarse and he makes me feel like ****. Even when I was little, I was so afraid of him that I was afraid to talk to him, let alone breathe around him. And it's for pointless stupid things too but it's annoying. Like one time he yelled at me so much for not drying the dishes to the point where I was so scared and he shook me and told me to do it or else. And he would yell at me when I was four and wanted to play with him. I know that was the past but all I wanted was to spend time with him and he told me to **** OFF. I know this might sound silly but I think verbal abuse is considered a federal offense, even if there is no physical abuse. What should I do? Please help me.