I'd treat the teacher as an adult who may spend more time with your kid than you do. Listen to her and your child's word should come last, not first. I stead of asking how to deal with the teacher, ask, why didn't your child listen? Why did your child antagonize the teacher to the point that she blew up and grabbed the paper. When you go after the teacher for these minor things, especially with your child knowing. All it does is feeling the belief your child has that they are right.

Now ofcourse there's a difference between a teacher sexually abusing your kid or even punching a child. But grabbing a paper or even trying to control a child is not the same as abuse.

If this particular teacher keeps making you feel uncomfortable and you are constantly being out in the position of needing to defend your child. Even if you know it undermines their behavior. Then it's time to speak with the principle and see if there's another class or another school.