For Allyson
Being a parent has been the toughest thing I've ever done, there are no right ways, no books to follow, but there are definitely wrong ways and lines that can be crossed. We are all shaped as parents by our own parents- sometimes this is great and sometimes this is tragic. Typically we carry a mix of our childhood into our own parenting skills. For example: extremely religious families tend to raise children who either a) become extremely religious or b) completely rebel. The same can be said for children who are raised in traumatic situations (not that church cannot be traumatic it absolutely can). A child that grows up in a broken home with addiction for example will either a) carry on the addiction into their life or b) leave it behind.
We are all subjected to a myriad of things that shape who we are as parents. When two people raise kids together they are bringing in two completely different references from which to parent, and this can make parenting really shitty. As a parent I can say that I never want my child to feel judged, on the flip side of that I have no problem letting her know when she's not doing right. That being said she is younger than you by a few years.
Remember that while they have some control over you, you are a completely separate human who will take these memories and leave one day. Soon, you will be out on your own, and then it will be up to you whether or not you even remain in contact with them. You may look back and see that their judging and harshness came from their own place of childhood trauma.
As far as them touching or hurting you, at your age, absolutely not acceptable in my opinion. I have never and will never use physical punishment on a child of any age. Many families do- but if it's coming from a place of anger then it is more than inappropriate, it is abuse. This is something that you will carry with you, and hopefully can break the chains in your own life.
If they are harming you to the point of feeling your life is threatened please know that under no circumstances is that even remotely okay. They have legal rights (in most states) to punish you although that is a really fine line.
I'm not sure who's telling you your parents are great, but likely they are seeing a one sided story. A story seen from the point of view from the parents, and not from the teenager. So as an outsider, a parent, and a teen not that long ago myself, I'd say you are warranted to feel this way.
Please know there are people who can help you if you need it.