I'm really sorry to hear that you had to go through such a difficult and painful experience. Yes, what you described does sound like abuse. It's essential to recognize that abuse can take many forms, and in your case, it seems to involve physical and emotional abuse.
Physical abuse involves the use of force that causes harm, pain, or injury to another person. In your situation, being hit and whipped with objects by your dad constitutes physical abuse. It's crucial to understand that regardless of his claims that it was a joke, causing harm or inflicting pain on someone without their consent is never acceptable.
Emotional abuse, on the other hand, involves behaviors that manipulate, belittle, threaten, or demean a person's self-worth and emotional well-being. Your dad's refusal to stop despite you expressing your discomfort and asking him to stop can be considered emotional abuse, as it disregards your feelings and boundaries.
The fact that you're no longer in contact with him suggests that you recognized the toxicity of the situation and took steps to protect yourself from further harm, which is a brave and important decision.
If you haven't already, it may be helpful to talk to a trusted friend, family member, or a mental health professional about your experiences. They can provide support and help you process your feelings. Remember that you deserve to be treated with respect, kindness, and love, and it's never your fault if someone chooses to harm you in any way.