Emancipation: Help

My question involves emancipation laws for the State of: pennsylvania

my mom's husband is so abbusive. he used to be very violent when he was drunk and high on crack. he has stoped that, but he is still very mentally and emotionally abusive to me. he is constantly throwing me out and calling me a whore. i'am not even allowed to have ne friends. every time i get a new friend, he starts saying that i am sleeping with the person(s). i can't go ne where and i can't do ne thing unless he is gone. him and his entire family treats my mom and i both like we're worthless. i even have a case worker that says i am in a completely safe environment. when i have pictures of his destructiveness, i even have pictures of when he beat my mom. i just need help to get out. before i can't get help ne more.