WooCommerce print subcategory of product

Configure, product_id and parent_category_id according to your requirements.

/* This is product id */
$product_id = 1;
/* This is the id of the parent category */
$parent_category_id = 8;

$cats = get_categories ( array (
    'type' => 'product',
    'parent' => $parent_category_id,
    'orderby' => 'term_group',
    'hide_empty' => true,
    'hierarchical' = > 1,
    'exclude' => '',
    'property' => '',
    'number' => '',
    'taxonomy' => 'product_cat',
    'pad_counts' => false
));

$non_empty_sub_categories_ids = array_map(create_function('$cat', 'return $cat->term_id;'), $cats);

$product_cats = get_the_terms( $product_id, 'product_cat' );
foreach ($product_cats as $product_cat) {
    if(in_array($product_cat->term_id, $non_empty_sub_categories_ids)) {
        echo '<a <br/> href="'. get_term_link($product_cat->slug,' product_cat ').' "> '. $product_cat->name.'</a>';        
    }
}