X-ray photoelectron diffraction is a powerful tool for determining the structure of clean and adsorbate-covered surfaces. Extending the technique into the ultrafast time domain will open the door to studies as diverse as the direct determination of the electron-phonon coupling strength in solids and the mapping of atomic motion in surface chemical reactions. Here we demonstrate time-resolved photoelectron diffraction using ultrashort soft x-ray pulses from the free electron laser FLASH. We collect Se $3d$ photoelectron diffraction patterns over a wide angular range from optically excited $\mathrm{Bi}{}_{2}\mathrm{Se}{}_{3}$ with a time resolution of 140 fs. Combining these with multiple scattering simulations allows us to track the motion of near-surface atoms within the first 3 ps after triggering a coherent vibration of the ${A}_{1g}$ optical phonons. Using a fluence of $4.2\phantom{\rule{0.28em}{0ex}}\mathrm{mJ}/{\mathrm{cm}}^{2}$ from a 1.55 eV pump laser, we find the resulting coherent vibrational amplitude in the first two interlayer spacings to be on the order of 0.01 \AA{}.
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