Assuming you know the parent category ID, you can use get_terms() function.
$args = array(
'parent' => 100 // id of the direct parent
);
$cats = get_terms( 'product_cat', $args );
foreach( $cats as $cat ) {
echo $cat->name;
}
Here is more information on this function and additional arguments you can use.
http://codex.wordpress.org/Function_Reference/get_terms
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