LexieCat and ShootingStar have offered good advice.
Here is a link for help in Pennsylvania:
Find Help | The First State Domestic Violence Coalition : The Pennsylvania Coalition Against Domestic Violence (PCADV)
You are asking for help on logistics - I say call a hotline for immediate assistance with resources to help you. Like LexieCat said, there may be more help with housing and finances than you realize. And, I'd focus on the PFA (protection from abuse) process. Although I cannot give you direct legal advice, I have worked on PFA cases in PA. Through that process, you can get an order for possesion of your home and custody of the children and the right to no contact from him.
AND - they generally assign pro bono attorney to can help you with the PFA process. From everything I have seen, the court personnel with walk you through this. They have seen it so many times before.
You are in danger. Your children are hurt by what this man does to you. Please make a plan and get out.