Disowning one of my parents.

We have two family businesses and my father runs one of them. My grandfather is still alive and he owns all of it. There is a profit share between four members my father, my grandfather, my grandfather's brother, and my father's brother. But my father never takes his cut from profits. He's a very shy guy. He does all the work and doens't get anything. He is also a bad husband because he used to beat my mother when I was a kid. My father is not letting me into running the family business. He doesn't have any money with him because he's dependent on my grandfather. He's 55 years old and still doesn't have money because he's doesn't take his cuts. He has bad motives too, like he wants to control my life. We live in a joint family and everyone is just against of my mother. I want a separation from my father. He treats me like an outsider. I want to disown him. How can I legally take action? Please help. My mother got some mental issues because of my father and still she fears my father of beating her.