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If mom still has her legal right intact then there's not much you can do. If she's willing to voluntarily relinquish her rights then you can file for custody, adoption, etc. The only other option is to get CPS involved but they aren't likely going to cease visitation, they'll still require visits because ultimately kids do still need to maintain connections with their birth family even when it's difficult. It sounds like they both need services though that can help improve the situation and rebuild that trust and sense of safety over time.
I'm sorry you are stuck in the middle of a very difficult situation!
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