SAK is downtown, a good half-hour at least from Disney with weekend traffic.
On the one hand, they strongly discourage four-letter words, and I've never heard them be that offensive. On the other hand, in the half dozen times I've been there, I don't recall ever seeing any young teens in the audience. I don't know if there's an age cut-off or if it's just how the crowds run. It's a fun show, worth giving them a call if you don't mind the drive (and the hassle of parking).