Depending on the age of your children, this is a very moving documentary, and I doubt they will suffer permanent damage from hearing a bad word spoken under great duress.
How young are your children? There are many sanitized documentaries. I watched one on the National Geographic Channel. It is told with footage and eyewitness testimony (as well as widow testimony) as to what was said between spouses etc. I believe this is it.
http://www.amazon.com/gp/product/B000BBS9QK/103-6669596-0468647?v=glance&n=130
This documentary about to be aired was actually filmed as the guys were coincidentally filming firefighters doing their everyday stuff.
This is the single, most powerful piece of history ever filmed, imo. There is very little film footage that has been shot live throughout history where it is captured so accurately, up close and from the perspective of the victims. It is much more powerful than any images shot from a helicopter. This film catches the horror from the ground where people were hitting the pavement, burn victims were being staged, general chaos was underway, the largest and most successful rescue operation in the world was taking place, and our country was receiving an act of war by people who would like us all dead. People think the D-Day scene was dramatic in "Saving Private Ryan". Now imagine if a film crew just happened to be filming a beach scene there and captured it all. I have a feeling that the scene in the movie would pale in comparison.
This needs to be seen as is. Al Qaeda would give us a 9-11 everyday if they could and too many in our country have already forgotten that.