Many parents that sexually abuse their kids do it because they don't know any better.
When a child grows and develops they model themselves after their parents. And if they are abused by their parents, they will feel that's the right thing to to when they themselves have kids.
Opportunistic: Had the chance to do it so they did. Not inclined toward children so much as interested in sex. Drunken stepfathers fall into this category most frequently.
Pedophile: Not capable of interacting with a mature partner, they see children as a love interest. Often try to make the experience pleasurable for the child.
Power tripper: Likes the control it gives them. Can involve the infliction of pain.
Most of the time its because they like to feel that they have control over everything going on. Pretty much everything left hand said. Sometimes its because the same thing happened to them, too.