Am I horrible since I saw a kid being physically abused but I thought it was normal because that's how I was raised.
Why didn't you take action?
I have a responsibility to look after them and I can't just leave them all by themselves.
Then look after them, step up and take action. Help get the child out of that situation ASAP.
I can't do that.
It can be scary, but if you really think they're being abused you should call the authorities. Wouldn't you want someone to step in for you if you were being abused?