C.W.
I had a friend in a similar situation when her daughter was 11. The daughter told the judge how she felt and why and it was determined that she could see her dad when SHE wanted to, but she was not obligated to go. It was hard for her to say that in court in front of her father, but it was the truth, so she did.
If I recall correctly, my friend got her daughter in counseling so that she could discuss her feelings with an adult other than her parents. The added support helped with issues like these.
Good luck!!