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I want to single out this part. If you see that your dog is uncomfortable with something, it's your job to protect both her, and the kids. Reading your own dog's signals is critically important. I know you want her to be social, and that's great, but you can't push her past the point of comfort without risking a reaction. That's not good for her ("practicing" that kind of behavior makes it more and more likely that it will keep happening) and it's not good for the kids (there could have been a bite).
I highly recommend the book "Control Unleashed" by Leslie McDevitt. Lots of great techniques for getting your dog slowly used to things that might make them anxious.
