Dynamics are fundamental to the functions of biomolecules and can occur on a wide range of time-and length-scales. Here we develop and apply high-speed AFM height spectroscopy (HS-AFM-HS), a technique whereby we monitor the sensing of a HS-AFM tip at a fixed position to directly detect the motions of unlabeled molecules underneath. This gives Angstrom spatial and microsecond temporal resolutions. In conjunction with HS-AFM imaging modes to precisely locate areas of interest, HS-AFM-HS measures simultaneously surface concentrations, diffusion coefficients and oligomer sizes of annexin-V on model membranes to decipher key kinetics allowing us to describe the entire annexin-V membrane-association and self-assembly process in great detail and quantitatively. This work displays how HS-AFM-HS can assess the dynamics of unlabeled bio-molecules over several orders of magnitude and separate the various dynamic components spatiotemporally.Introduction: Developing a full picture of how biomolecules function requires an understanding of the intricate relationships between structure and dynamics. For molecules in isolation such as single proteins, these dynamics generally occur as conformational changes. For molecules that act in complexes, the dynamics are dependent on diffusion and partner interaction. These dynamic processes are of course not mutually exclusive, but occur in different spatiotemporal regimes. For membrane proteins these dynamics are crucial as they allow the cell to reorganize proteins in space and time, to form temporal functional units for a particular biochemical function or to regulate the function of the membrane protein itself. 1,2 Biomolecule dynamics occur over a range of length and timescales. Local flexibility, which generally concerns side chain rotations, bond vibrations and loop motions, happens over the femtosecond to nanosecond time range. Whereas collective motions of groups of atoms, loops and domains, typically occur on timescales of the microsecond or longer. Such collective motions are at the basis of most important biomolecular functions including conformational changes between functional states of proteins, the working of molecular machines, enzyme catalysis, protein folding and protein-protein interactions, though the later phenomena can extend into the millisecond to second time range depending on the process or the origin of the molecules under investigation. 3 Thus, developing techniques to directly access structural changes from the microsecond to second timescales is key to understanding the behavior of biomolecules. X-ray crystallography and electron microscopy (EM), are most powerful techniques to study biomolecular structures, 4,5 whilst able to provide unparalleled spatial resolution, the structures obtained from these methods are limited by ensemble averaging and static snapshots of fixed conformations. Consequently, dynamics must be inferred, missing vital information describing how the biomolecules truly function in native conditions, such as their fluctuations, rates, int...