What steps do I need to take (and how long will they take) to transfer guardianship from my parents to my friend's parents?

Hello; I am a minor--16 years old--who is stuck in a horrible situation. My dad is an abusive man and I have done everything to try to alleviate the situation. Social services has come to my house around three times, and even after witnessing the physical and emotional abuse that he continuously commits, they had not taken me out and put me in my friend's house. I cannot walk outside or even do simple functions without looking over my shoulder. I am a well-behaved teenager, so his behavior is completely unwarranted and goes beyond "discipline.'" Coming to school with scratches all over my face and continuous fear is not discipline and not acceptable. Therapy has not worked, nor will my father ever accept it. I've ran away once, but that is not a permanent solution and I was returned almost 2 hours later. If I continue to stay here, my emotional health will only continue to decline. This is not a safe nor an ideal environment for me to live in. My friend's parents want to take me in.