A multifocal display for rendering a 3D scene as a series of 2D images. In one aspect, the multifocal display includes a display, an optical imaging system, a refractive focus actuator and a controller. The display renders the 2D images. The optical imaging system is image-side telecentric and creates an image of the display. The refractive focus actuator is positioned at the pupil of the optical imaging system. Thus, adjusting the refractive focus actuator alters a location of the image of the display but does not significantly alter a size of the image. The controller coordinates adjustment of the refractive focus actuator with rendering of the 2D images on the display. The waveform driving the focus actuator is preferably designed to reduce ringing and jitter effects.