Is my mom abusive? and what kind of abuse?

I've never really had a good connection with my mom for as long as i can remember. My mom's old friend (who is also my friend and I trust her more than my mom) Helped babysit me since I was born and said my mother never let me be a child and play. I've never owned a toy in my life whereas my brothers and sister have. She is always putting me down and calling me vulgar names. The worst one she has called me is worthless and her biggest disappointment. She says I'm not allowed to be her friend and children were put on earth to slave their parents til they are of legal age. I'm not allowed to have friends she knows about otherwise she will scare them off or call he police with false accusations. I will be 17 years old in september, and I want to move out, but I don't know how to leave without hurting her. I am very sensitive and I don't want to make her upset. Most of the time I usually just stay in my room, but there is no way of avoiding her. I tred moving in with my father, but he kicked me out after 3 days and said he didn't want me. I dont know what to do, and I think this is all my fault. What should I do? Should I move out my friend I mentioned earlier said she will help me and give me a place to stay. I feel really safe and loved around her, but I don't know what to do. Please help.

Not your fault but next step is difficult.Take your time.