> "Ударять" is used rarely. We use "бить" instead.
Yes.
"Ударить" is "to strike once" (event)
"Бить" is "to beat (to do many strikes during period of time)" (process)
"Ударять" form is something like "to strike (once, but) several times (during time period)". It is not used in natural speech, because verb "бить" exists.
Also, "to kick dog" is probably "пнуть собаку". "Пнуть" is "to strike by leg".