Is it my problem or my dad's?

Ever since I was little, all of my memories regarding my dad have been bad ones. Sure, he's my dad and he has bought me things and done nice things for me, but all of that is overshadowed by the way he has treated my brother and I since we were little. He has cussed at us ever since I can remember. Verbal abuse is definitely not scarce. Every vacation we've been on, he has yelled at either my brother or me. Every time he comes back from a business trip, he yells at my brother or me. It's the same story for everything. When he yells, it includes insane profanity. None of it is censored. When I was little, he hit me with pillows, he threw clothes at me, tennis etc. I try hard to be nice, to tolerate him, to get along, but it never seems to work as he makes me cry a lot. He doesn't know the damaging effects of his harsh words has had on me (i'm 17 now). I'm overall a very nice person, I love to volunteer and give back to the community, and I just don't know if it's my fault that I can't look past it or is it his? He tells me that it's my fault that I'm burdening myself because I remember all of his nasty remarks. I tell him that it's not that easy to just let go of these memories. I can't just tell myself to forget and I'll forget. It doesn't work that way. But again, he just doesn't understand. My dad has never ever been there for me emotionally. This is why I love my Mom for being there for me all the time. I don't want anyone to think that he's a drunk and can't control himself - because he's not. And there is no physical contact or anything. It's just that sometimes I wish he would leave me alone. I honestly don't think that this situation can be resolved anymore. I can't tell anyone because I don't feel comfortable telling anyone about my situation, and all of his verbal attacks has made me very insecure. I hate to ask questions or even voice my opinions because I'm afraid that people will disagree and get mad at me - just like my dad does. I've tried telling him, heck I HAVE told him several several times, but he just doesn't get it. Am I at fault for dwelling on the past/present (I say present as he still does it) or is he the one who's in the wrong? I asked him if he thought it was okay to cuss at his children and he said, "yeah, as long as I don't mean it then I think it's perfectly fine". Then what also makes me mad is that after having to stand in front of him for 3 hours listening to him yell at me, the next day, he pretends that everything is all good and fine - like nothing ever happened.