causing no (serious) harm
How can we say that an aikido technique doesn't count as violence as long as it is executed in the way of aikido?
I am sure the recipient of your technique with a fractured limb and a few bruises would disagree with you.
Besides why does violence carry such a negative connotation? Actions can be violent with Mal intent. Combat of any kind is always going to be violent. We cannot escape this fact.
The first time a beginner see Tobi ukemi they are often shocked by the violence of aikido. Are they wrong to think aikido is violent? I don't think so, I think we as students have become immune to this fact.