Worf loves his son. He just has no paternal skillset and he hates having to compromise his duty and career to work on the skillset. He does not relate to his son when he doesn't act like a Klingon and isn't used to having to consider the feelings of people he has power over. He cares very much for his son and wants him to succeed in life, he's just really terrible at parenting.
I forgot about Pulaski. My favorite TNG Doctor. The episode where she partakes in a rutual with Worf was pretty cool. Crusher wouldn't be nearly as cool.
If you wanna get really psychoanalytical about it, Worf probably resents his son because Alexander reminds him of his own failures and inadequacies as a traditional Klingon.
Worf does NOT hate Alexander. He just doesn't know how to be a dad. That is not Worf's fault - he was just unprepared for it.
Worf's problem is that he aspires to a Klingon ideal we never really see in other Klingons. Worf knows the rituals, the myths and the history of his people, but he never seems to take joy in life the way other Klingons do. I think this reflects in his parenting of Alexander, who he tries to hold to the same strict code of conduct he himself does.