Your comment:
"When we get in an discussion about how I don't listen to her and I don't understand her, when I try to explain myself to her she gets mad. She bears her teeth at me and will start to yell. When I know I'm loosing my cool and I'm getting mad, I try to leave she will grab my arm and try to make me Tay. I remove myself from her and try to leave the room where she then runs in front of me blocking my way making me push her out of the way, not to any degree of real force on my part."
Especially if this is the only situation in which this happens, I think you've found the key: your daughter feels like you do not listen to her and understand her. This cannot be a conversation that YOU are choosing to start, which means SHE is making a serious attempt to communicate with you, and it sounds like your response is to first shut her down, and then to leave. I would say that for an 11 year old, just the act of starting such a discussion with you is pretty remarkable, and you may want to cut her some slack on the fact that she may not be going about it in the most constructive way.
Even if you feel that you always do listen, and that you understand, clearly that is not your daughter's experience, and her experience is valid, even if it is different from yours, and even if it doesn't reflect reality.
Here is my suggestion:
1) YOU bring up this topic with her. Not her behavior, but her feelings about being ignored and misunderstood. Say, "you remember when you told me that I don't listen to you, and we got into a huge fight? Well, I was wondering if you still wanted to talk to me about what was bothering you, because I'm ready to listen."
2) whatever she says, DON'T respond until she is completely done. Make sure you listen the whole time, and ask follow up questions if you don't understand. When she seems to be done, ask her: "do you feel like you've said everything you need to? Because we can take a minute if you feel like you might have more to say."
3) when she is done, say: "this is what I'm hearing you say (insert here). Is that right?" If it isn't, let her clarify, then try again.
4) when you've really got a handle on the nature of her complaint, if you understand the problem and you understand what about your behavior towards her has contributed to the feelings she has, say, "I understand that you feel (x), and I can see why (y) has made you feel that way. In the future I will try to (z) so that doesn't happen anymore." If you DON'T understand, say, "ok, I hear where you're coming from, and I'll have to think about this for a little while. Can we continue this discussion tomorrow?"
5) once you're completely clear about her feelings and have finished addressing them and figuring out what she's objecting to in your behavior, then and only then can you say: "are you willing to hear my feelings about that fight we had? Because I want you to be able to understand me, too." Likely she will be more than happy to listen. But do not make it about her behavior - this is your chance to explain your behavior, your feelings, as she has just done for you.
My guess is that, given your description of her father's temper and the fact that you two were married for some unstated period of time, you have some built-in defense mechanisms against displays of anger that make you want to avoid/ignore them. You also may have classed all angry displays as abusive in your mind, and therefore leaving seems better to you than becoming angry. You may instinctively feel fearful and helpless in the face of anger, especially if you've felt victimized by a more powerful angry individual in the past. This is all just a guess. But whatever your feelings are, it is important for you and your daughter to both understand them, so that she can be sensitive towards you, and so that you can observe your own behavior and act, rather than react, when the two of you come into conflict. Because it's bound to happen at least a few more times through her teen years.
Edit:
Of course her manner of dealing with her anger is unacceptable and needs to be addressed, but it should be addressed separately, and after you have resolved the issue behind the anger.